Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

摘要

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.