{"title":"A 3-RER multi-mode parallel mechanism that has both shaky and regular operation modes","authors":"Xianwen Kong","doi":"10.1016/j.mechmachtheory.2025.106023","DOIUrl":null,"url":null,"abstract":"<div><div>Multi-mode parallel mechanisms (PMs) are a class of reconfigurable PMs that can switch between different operation modes without needing to be disconnected and reassembled. This paper reveals that a 3-RER (or 3-UPU) PM, proposed in an earlier publication by the author, has both regular operation modes, where the moving platform has the same instantaneous degree-of-freedom (DOF) and finite DOF, and shaky operation modes, where the moving platform has different instantaneous DOF and finite DOF. The reconfiguration analysis, including the motion mode analysis using the primary decomposition of ideals and the instantaneous mobility analysis of the PM using screw theory, are presented. The analysis shows that the 3-RER multi-mode PM has nine operation modes, including four 3-DOF spatial translation modes, three 3-DOF planar operation modes, and two 3-DOF zero-torsion operation modes. Among the three operation modes that the PM can switch between without link interference, two are shaky, while the remaining one is regular. This work provides a starting point for further research on multi-mode PMs that have a shaky operation mode.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106023"},"PeriodicalIF":4.5000,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X25001120","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/4/25 0:00:00","PubModel":"Epub","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
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Abstract
Multi-mode parallel mechanisms (PMs) are a class of reconfigurable PMs that can switch between different operation modes without needing to be disconnected and reassembled. This paper reveals that a 3-RER (or 3-UPU) PM, proposed in an earlier publication by the author, has both regular operation modes, where the moving platform has the same instantaneous degree-of-freedom (DOF) and finite DOF, and shaky operation modes, where the moving platform has different instantaneous DOF and finite DOF. The reconfiguration analysis, including the motion mode analysis using the primary decomposition of ideals and the instantaneous mobility analysis of the PM using screw theory, are presented. The analysis shows that the 3-RER multi-mode PM has nine operation modes, including four 3-DOF spatial translation modes, three 3-DOF planar operation modes, and two 3-DOF zero-torsion operation modes. Among the three operation modes that the PM can switch between without link interference, two are shaky, while the remaining one is regular. This work provides a starting point for further research on multi-mode PMs that have a shaky operation mode.
期刊介绍：
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry
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