• Jul 12, 2018 News![CFP] 2019 the annual meeting of IJMMM Editorial Board, ECMMM 2019, will be held in Amsterdam, Netherlands during February 16-18, 2019.   [Click]
  • Feb 26, 2018 News!'Writing Tips' shared by Prof. Ian McAndrew!   [Click]
  • Nov 22, 2018 News!Papers published in Vol.6, No.5-No.6 have all received dois from Crossref.
General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS),  ProQuest, Crossref, Ulrich's Periodicals Directory,  etc.
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Capitol Technology University, USA
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2016 Vol.4(2): 123-126 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2016.V4.238

Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot

Takashi Harada
Abstract—A novel redundantly actuated planar parallel robot which enlarges the workspace by mode changes is proposed. Redundantly actuation and asymmetric design enables singularity avoided mode changes with loss redundancy but maintain non-singularity. In the assembly mode change, where the parallel robot transfers its configurations between two solutions of the direct kinematics, path planning which avoids singularity is proposed. In the working mode change, where the parallel robot transfers its configurations between two solutions of the inverse kinematics, the asymmetrical design contributes to singularity-free mode change. The singularities avoided mode changes were performed by newly developed prototype.

Index Terms—P rallel mechanisms, mechanical design, mode changes, workspace, singularity.

T. Harada is with Department of mechanical engineering, Faculty of Science and Engineering, Kinki University, 3-4-1 Kowakae, Higashiosaka, 577-8502 Osaka, Japan (e-mail: harada@mech.kindai.ac.jp).

[PDF]

Cite: Takashi Harada, "Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot," International Journal of Materials, Mechanics and Manufacturing vol. 4, no. 2, pp. 123-126, 2016.

Copyright © 2008-2018. International Journal of Materials, Mechanics and Manufacturing. All rights reserved.
E-mail: ijmmm@ejournal.net