A Dual Reconfigurable 4-rRUU Parallel Manipulator

Abstract : — The aim of this paper is to introduce the use of a double Hooke's joint linkage to reconfigure the base revolute joints of a 4-RUU parallel manipulator (PM). It leads to an architecturally reconfigurable 4-rRUU PM whose platform motion depends on the angle between the driving and driven shafts of the double-Hooke's joint linkage in each limb. Even when the angle is fixed, the manipulator is reconfigurable by virtue of the different operation modes it can exhibit. By keeping the angle as a variable, the constraint equations of the 4-rRUU PM are derived using Study's kinematic mapping. Subsequently, the ideal of constraint polynomials is decomposed as an intersection of primary ideals to determine the operation modes of the 4-rRUU PM for intersecting and parallel revolute joint axes in the base and the moving platform.
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Abhilash Nayak, Stéphane Caro, Philippe Wenger. A Dual Reconfigurable 4-rRUU Parallel Manipulator. The 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨hal-01757553⟩

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