FA C E - U P C O N S T R A I N T

SINGULARITY
C O N F I G U R AT I O N S O F T H E
DY M O ( 3 - U R U ) R O B O T
A B H I L A S H N AYA K

CONTENTS
1
2
3
4

Introduction
Manipulator architecture
Operation modes
Constraint singularity configurations
4.1 Transition 1 . . . . . . . . . . .
4.2 Transition 2 . . . . . . . . . . .
4.3 Transition 3 . . . . . . . . . . .
4.4 Transition 4 . . . . . . . . . . .
5 Conclusions and other ideas

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The 3-URU DYMO parallel mechanism

Tilt and Torsion angles. . . . . . . . . . .
Translation to mixed mode transition . .
Planar to translation mode transition . .
Orientation to mixed mode transition .
Orientation to planar mode transition .

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2
2
3
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4
4
5
6
6

LIST OF FIGURES
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6

2
3
4
5
5
6

INTRODUCTION

INTRODUCTION

The 3-URU Double Y Multi-Operational (DYMO) Parallel Mechanism [1]

consists of three legs with two universal joints and a revolute joint in each
leg. This manipulator is fascinating in its behaviour, allowing different systems of platform motions in different configurations that result in distinct
modes of operation. In total, there are 5 different modes of operation and
these modes are separated by constraint singularities. In this article, following the screw theory analysis done by Zlatanov et. al. [1], some of these
constraint singular configurations are depicted and the adjoining operation
modes are briefly described for the face-up position of the moving-platform.

M A N I P U L AT O R A R C H I T E C T U R E

the DYMO manipulator is shown in Figure 1. The moving platform U-joint

centres (A, B and C) and the fixed base U-joint centres form equilateral triangles. The revolute-joint axes vetors in each leg are marked siP , i = 1, ..., 5,
P = A, B, C. The joint axes s5P meet at the circum-centre of the platform, Q,
while the axes s1P meet at the base circum-centre, O. These first as well as
the last axes form Y-shapes, after which the mechanism is named. The three
intermediate R-joints s2P , s3P and s4P are parallel. The origin of the fixed coordinate frame is at O and the z-axis lies along the normal to the base plane b .
The platform plane is denoted as p .

s5A
s4A

s2A

C
b

s1A
O
s3A

Figure 1: The 3-URU DYMO parallel mechanism

O P E R AT I O N M O D E S

O P E R AT I O N M O D E S

The 5 different operation modes and the bases for their types of degrees-offreedom (dof) are listed. In all these operation modes, the mechanism has 3
dof [1].
1. Translation mode: Three pure translations.
2. Orientation mode: Three pure rotations about O.
3. Planar mode: Motions in the base plane, two horizontal translations
and a vertical rotation.
4. Mixed mode: Two rotations in the plane bisecting p and b and a
translation along the normal to that plane.
5. Lockup mode: The platform has zero dof but the legs can spin independently.
The video demonstrations of these operation modes can be found in http:
//www.parallemic.org/Reviews/Review008.html.

CONSTRAINT SINGULARITY CONFIGURATIONS

At a constraint singularity, the mechanism gains one or more instantaneous

dof. The description of the orientation of the platform with respect to the
Tilt and Torsion angles [2] makes it easier to imagine the singular configurations. As shown in Figure 2, a horizontal axis is considered at an angle of
(azimuth) from x-axis. A rotation about this axis in the vertical plane normal
to it is denoted as (tilt) and the rotation about the final z-axis is denoted
by (torsion). Note that the constraint singularities considered here are only

z z*

y*

x*

Figure 2: Tilt and Torsion angles.

for the face-up position of the manipulator. The face-down constraint singularities are similar to the face-up singular positions except for the mixed

C O N S T R A I N T S I N G U L A R I T Y C O N F I G U R AT I O N S

mode case. Though theoretically feasible, the face-down configurations are

practically difficult to achieve due to link and platform collisions.
4.1

Transition 1

Occurance: When Q Oz and the platform has zero orientation, =

= = 0. One of the many configurations is shown in Fig. 3. In fact,
a great number of configurations are possible for different values of z
that can be used for the compliant mechanism design.
Constraint wrench system: Any moment in the vertical direction.
dof: 5 dof; All translations and rotations with the horizontal axes.
Transition: Between the translation mode and the mixed mode. An
orientation for a given tilt and azimuth may lead to the mixed mode. A
translation in the horizontal direction while maintaining zero orientation will lead to the translation mode.

Figure 3: Translation to mixed mode transition

4.2

Transition 2

Occurance: When p b but Q 6 O, s3P k Oz P, the two Ys are

parallel. It can happen when = 0 (Fig. 4a) or = (Fig. 4b)
Constraint wrench system: spanned by two horizontal moments and
a vertical force.
dof: The mechanism has 4 dof while the platform only 3; two horizontal translations and a vertical rotation.
Transition: Between the translation mode and the planar mode. Any
other configuration in the plane leads to the planar mode while taking
it out of the plane after changing the leg orientations, results in the
translation mode.

C O N S T R A I N T S I N G U L A R I T Y C O N F I G U R AT I O N S

b
b

O
Q

(a) = 0

(b) =

Figure 4: Planar to translation mode transition

4.3

Transition 3

Occurance: Q 6 O; When the revolute joint axes s3P are parallel to the
same plane, say, ; In this case, the platform is oriented by single finite
rotation about a horizontal axis as in Fig. 5a (a tilt in the vertical plane
of some azimuth) while there is no torsion ( = 0). A special case is
when the axis of the finite rotation is along s1P (in Fig. 5b, where P=A),
every half-turn of the spinning leg A is a constraint singularity.
Constraint wrench system: A 2-system of screws spanned by two intersecting and co-planar forces lying on the plane .
dof: The mechanism has 4 dof - 3 rotations and a translation normal to
the plane to which s3P are parallel.
Transition: Between the rotation mode and the mixed mode. Any other
orientation leads to the orientation mode while two rotations in the
bisecting plane of b and p or a translation along the normal to this
bisecting plane gives rise to the mixed mode.

Q
O

Q
O

(a) Tilt about a random axis

(b) Tilt about the axis along OA

Figure 5: Orientation to mixed mode transition

C O N C L U S I O N S A N D OT H E R I D E A S

4.4

Transition 4

Occurance: Q O and p b ( = 0). Fig. 6a shows a configuration

for a random while Fig. 6b shows the singular configuration when
= 180 . Keeping in mind the point and plane alignments, since any
value of corresponds to a singular configuration, this property can be
exploited in the design of a compliant mechanism as per convenience.
Constraint wrench system: A vertical force along Oz.
dof: 5 dof - 3 rotations and two horizontal translations.
Transition: Between the rotation mode and the planar mode. A orientation with a tilt results in the orientation mode when p no longer
aligns with b but Q O. Moving Q away from the O while maintaining p b leads to the planar mode.

z
z
= -1800

p
Q

p
Q

(a) a random

(b) =

Figure 6: Orientation to planar mode transition

C O N C L U S I O N S A N D OT H E R I D E A S

Some of the constraint singular positions of the DYMO robot are presented
based on the screw theory approach [1]. To design a reconfigurable compliant mechanism based on these singularities, one of the many possible configurations (like in transition 1 and 4) can be chosen as convenient.
I plan to use algebraic methods to confirm these transition configurations
between operation modes of the DYMO robot. Furthermore, similar to the
3-URU DYMO mechanism, we intend to depict the constraint singularity positions in case of the 3-UPU parallel manipulator that can later be used to
design a compliant 3-UPU parallel mechanism. Also, we need to think about
the placement and number of actuators necessary to move the designed compliant mechanism such that it can reach the necessary operation mode.

REFERENCES

REFERENCES
[1] Dimiter Zlatanov, Ilian A. Bonev, and Clment M. Gosselin. Constraint
singularities as C-space singularities. In J. Lenarcic and F. Thomas, editors, Advances in Robot Kinematics: Theory and Applications, pages 183192.
Springer Netherlands, Dordrecht, 2002.
[2] Ilian A. Bonev, Dimiter Zlatanov, and Clment M. Gosselin. Advantages
of the modified euler angles in the design and control of PKMs. In Parallel
Kinematic Machines International Conference, pages 171188. IEEE, 2002.