Operation modes in lower-mobility parallel manipulators

Josef Schadlbauer, Latifah Nurahmi, Manfred Husty, Philippe Wenger*, Stéphane Caro

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Citations (Scopus)


This paper discusses the notion of operationmode in parallelmanipulators with less than six dof. This notion has been reported recently in several papers but the physical meaning of an operation mode is not always clear. Indeed, even if in some cases an operation mode can be associated with an understandable motion type e.g., three pure translations or a spherical motion, in some other cases, such an association is not straightforward. Therefore, the axodes are used in this paper to characterize any operation mode of lower-mobility parallel manipulators. A 3-RPS manipulator is used as an illustrative example. This manipulator is special because one can parameterize its operation modes.

Original languageEnglish
Title of host publicationInterdisciplinary Applications of Kinematics - Proceedings of the International Conference
EditorsAndrés Kecskeméthy, Francisco Geu Flores
PublisherKluwer Academic Publishers
Number of pages9
ISBN (Electronic)9783319107226
Publication statusPublished - 2015
Externally publishedYes
Event2nd International Conference on Interdisciplinary Applications in Kinematics, 2013 - Lima, Peru
Duration: 9 Sept 201311 Sept 2013

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


Conference2nd International Conference on Interdisciplinary Applications in Kinematics, 2013


  • Lower-mobility
  • Operation modes
  • Parallel manipulators


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