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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), Engineering & Technology Digital Library,  ProQuest, Crossref, Ulrich's Periodicals Directory, DOAJ, and Electronic Journals Library .
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Embry Riddle Aeronautical University, UK.
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.

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