The Kinematic Modeling of a 2-DOF Rotational Parallel Fixture

Cai, Shan Le; Huang, Wen; Li, Peng

doi:10.4028/www.scientific.net/amr.605-607.1465

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2015

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“…Mechanisms with articulated bars were proposed and used by many authors, like in [2], mainly using a platform. The presently proposed solution uses only 3 axes, two controlled by actuators (rotation) and 2 passive bars.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of 2 DoF Spherical Mechanism Applying Constraint Equations

Tolvaly-Roșca

Papp

2015

MACRo 2015

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Constraint equations for complex robot structures can lead to a large number of equations. Also, constraint equations permits universal solutions for various mechanisms and solving a large number of equations can be simplified with numerical solutions. Therefore, if discreet solutions are allowed, a universal way to determine the necessary control parameters of a mechanism for different positions, or corresponding positions for different driving parameters is to use constraint equations. A direct kinematical analysis of a 2 DoF spherical mechanism with two driving axes is presented; a numerical simulation is made for given arm dimensions; according to specified degrees of freedom, a simplified CAD model is built and driven with the angular parameters.

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Section: Introductionmentioning

confidence: 99%