Title: Operation modes and self-motion of 2-RUU parallel manipulator

Authors: Latifah Nurahmi; Stéphane Caro; Philippe Wenger

Addresses: Department of Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Jl. Teknik Industri, Kampus ITS Sukolilo, Surabaya 60111, Indonesia ' CNRS, Institut de Recherche en Communications et Cybernétique de Nantes, 1 rue de la Noë, 44321 Nantes, France ' CNRS, Institut de Recherche en Communications et Cybernétique de Nantes, 1 rue de la Noë, 44321 Nantes, France

Abstract: This paper deals with the characterisation of the operation modes of the 2-RUU parallel manipulator with an algebraic approach, namely the study's kinematic mapping of the Euclidean group SE(3). The manipulator is described by a set of eight constraint equations and the primary decomposition reveals that the mechanism has three 4-dof operation modes. The singularity conditions are obtained by deriving the determinant of the Jacobian matrix of the constraint equations with respect to the study parameters. It is shown that there exist singular configurations in which the 2-RUU parallel manipulator may switch from one operation mode to another operation mode, which is known as constraint singularity. All the singular configurations are mapped onto the joint space and are physically interpreted. Eventually, the 2-RUU parallel manipulator may switch from the 1st Schönflies mode to the 2nd Schönflies mode, or vice versa, through the additional 4-dof mode that contains self-motion.

Keywords: lower mobility parallel manipulator; operation modes; reconfigurable manipulator; self motions; singularities.

DOI: 10.1504/IJMRS.2016.085228

International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.4, pp.280 - 296

Received: 17 Aug 2015
Accepted: 17 Mar 2016
Published online: 17 Jul 2017 *

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