In parallel-mechanisms (PMs), the passive joint velocities can be eliminated from the velocity equations by a standard screw-theory method, obtaining a system of linear input-output equations. A general method for the elimination of the passive joint velocities in non purely parallel mechanisms is not yet known. The paper addresses the problem by studying the instantaneous kinematics of two non-parallel closed-chain 4-dof mechanisms derived from a 5-dof PM. With some modifications and appropriate geometric reasoning the PM methodology can be successfully applied to the analysis of non-parallel mechanisms.
On the velocity analysis of non-parallel closed chain mechanisms
ZOPPI, MATTEO;ZLATANOV, DIMITER;MOLFINO, REZIA
2006-01-01
Abstract
In parallel-mechanisms (PMs), the passive joint velocities can be eliminated from the velocity equations by a standard screw-theory method, obtaining a system of linear input-output equations. A general method for the elimination of the passive joint velocities in non purely parallel mechanisms is not yet known. The paper addresses the problem by studying the instantaneous kinematics of two non-parallel closed-chain 4-dof mechanisms derived from a 5-dof PM. With some modifications and appropriate geometric reasoning the PM methodology can be successfully applied to the analysis of non-parallel mechanisms.
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