We study 4-universal-prismatic-universal (UPU) parallel manipulators performing Schoenflies motion and show that they can have extra modes of operation with three degrees of freedom (3DOF), depending on the geometric parameters of the manipulators. We show that the transition between the different modes occurs along self-motion of the manipulator in the Schoenflies mode.
Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 20, 2014; final manuscript received December 17, 2014; published online April 6, 2015. Assoc. Editor: Philippe Wenger.
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Coste, M., and Mady Demdah, K. (November 1, 2015). "Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion." ASME. J. Mechanisms Robotics. November 2015; 7(4): 041020. https://doi.org/10.1115/1.4029501
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