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RESEARCH PAPERS

# Type Synthesis of Parallel Mechanisms With Multiple Operation Modes

[+] Author and Article Information
Xianwen Kong2

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4xwkong@gmc.ulaval.ca

Clément M. Gosselin3

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4gosselin@gmc.ulaval.ca

Pierre-Luc Richard

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4pierre-luc.richard.3@ulaval.ca

2

With the Department of Mechanical Engineering, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, UK, EH14 4AS (from July 2007).

3

Author to whom correspondence should be addressed.

J. Mech. Des 129(6), 595-601 (Jun 13, 2006) (7 pages) doi:10.1115/1.2717228 History: Received February 09, 2006; Revised June 13, 2006

## Abstract

There are usually several motion patterns having the same degrees of freedom (DOF). For example, planar motion, spherical motion, and spatial translation are motion patterns with 3 DOF. An $f$-DOF parallel mechanism with multiple operation modes is a parallel mechanism that can generate different motion patterns with $f$ DOF. Up to now, no method has been proposed for the type synthesis of parallel mechanisms with multiple operation modes. This paper presents a general method for the type synthesis of parallel mechanisms with multiple operation modes. Using the proposed approach, 3-DOF parallel mechanisms with both spherical and translational modes, i.e., parallel mechanism generating both a spherical motion pattern and a spatial translational motion pattern, are generated systematically. A large number of parallel mechanisms with both spherical and translational modes are obtained.

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## Figures

Figure 4

Selection of actuated joints for the 3-Ŕ́(RRR)EŔ́ parallel mechanism with both spherical and translational modes: (a) in translation mode, (b) in lockup↔translation configuration, (c) in lockup configuration, (d) in lockup↔rotation configuration, and (e) in spherical mode

Figure 1

Some legs for parallel mechanisms with both spherical and translational modes: (a)Ŕ́(RRR)EŔ́, and (b) ŔŔ́R̀ŘŔ́

Figure 2

Some parallel mechanisms with both spherical and translational modes at their lockup configurations: (a) 3-Ŕ́(RRR)EŔ́, and (b) 3-ŔŔ́R̀ŘŔ́

Figure 3

3-Ŕ́(RRR)EŔ́ parallel mechanism with both spherical and translational modes in (a) a general configuration in the translational mode, (b) a lockup↔translation configuration, (c) a lockup configuration, (d) a lockup↔rotation configuration, and (e) a general configuration in the spherical mode

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