Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms

  • Antonius G. L. HoevenaarsEmail author
  • Patrice Lambert
  • Just L. Herder
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


Parallel Manipulators with Configurable Platforms (PMCPs) have platforms with internal degrees of freedom and form a class of manipulators that is not covered by existing type synthesis methods. Because the minimum number of legs for a PMCP is three, fully parallel 3DOF PMCPs may be considered an elementary subset of PMCPs. To support the extension of type synthesis methods to PMCPs, this paper presents the first kinematic designs of manipulators from this subset. A structured design method has led to the kinematic design of two spatial manipulators that are both capable of independently performing one translation, one rotation and one internal platform motion.


Parallel mechanisms  Configurable platform  3DOF  Grasping motion  Spatial 



This research was financially supported by the Dutch Technology Foundation STW (project number 12158).


  1. 1.
    Earl, C.F., Rooney, J.: Some kinematic structures for robot manipulator designs. J. Mech. Transm. Autom. Des. 105(1), 15 (1983). doi: 10.1115/1.3267337 Google Scholar
  2. 2.
    Gogu, G.: Structural Synthesis of Parallel Robots, Part 1: Methodology. Springer, Dordrecht (2008)Google Scholar
  3. 3.
    Kong, X., Gosselin, C.: Type Synthesis of Parallel Mechanisms. Springer, Berlin (2007)Google Scholar
  4. 4.
    Kumar, V.: Instantaneous kinematics of parallel-chain robotic mechanisms. J. Mech. Des. 114(3), 349 (1992). doi: 10.1115/1.2926560 Google Scholar
  5. 5.
    Lambert, P., Herder, J.L.: Mobility analysis of non series-parallel mechanisms. In: Viadero, F., Ceccarelli, M. (eds.) New Trends in Mechanism and Machine Science, Mechanisms and Machine Science, vol. 7, pp. 63–71. Springer, Dordrecht (2013). doi: 10.1007/978-94-007-4902-3
  6. 6.
    Lambert, P., Langen, H., Munnig Schmidt, R.: A novel 5 DOF fully parallel robot combining 3T1R motion and grasping. In: ASME 34th Annual Mechanisms and Robotics Conference, Parts A and B, vol 2, pp. 1123–1130, (2010). doi: 10.1115/DETC2010-28676
  7. 7.
    Merlet, J.P.: Parallel robots, 2nd edn. Solid Mechanics and its Application. Springer, New York (2006)Google Scholar
  8. 8.
    Mohamed, M., Gosselin, C.: Design and analysis of kinematically redundant parallel manipulators with configurable platforms. IEEE Trans. Rob. |textbf21(3), 277–287 (2005). doi: 10.1109/TRO.2004.837234
  9. 9.
    Nabat, V., de la O Rodriguez, M., Company, O., Krut, S., Pierrot, F.: Par4: very high speed parallel robot for pick-and-place. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 553–558. IEEE (2005). doi: 10.1109/IROS.2005.1545143
  10. 10.
    Yi, B.J., Hong, Y.S., Oh, S.R.: Design of a parallel-type gripper mechanism. Int. J. Rob. Res. 21(7), 661–676 (2002). doi: 10.1177/027836402322023240 Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Antonius G. L. Hoevenaars
    • 1
    Email author
  • Patrice Lambert
    • 1
  • Just L. Herder
    • 1
  1. 1.Department of Precision and Microsystems EngineeringDelft University of TechnologyDelftThe Netherlands

Personalised recommendations