Kinematic Analysis Of Mechanisms Based On The Theory Of Parallel Mechanisms

The kinematics analysis of parallel Mechanisms is mature, while that formetamorphic mechanisms and over-constrained linkages is immature. This task ismainly for the kinematics analysis of3-US parallel mechanism,8R spatialmetamorphic linkage and Schatz linkage based on the theory of parallel mechanisms.(1) The kinematic analysis of a3-US parallel mechanism is investigated using screwtheory. Position analysis is presented via three nonlinear equations which areconstructed based on the geometric constraints of the mechanism. Velocityanalysis is then carried out using theory screw leading to the Jacobian of theproposed mechanism. The equations are further computed with numerical methodand two numerical examples are provided so as to illustrate the efficiency of themethod. The numerical results of kinematics analysis are proved to be appropriatecompared with the simulation results obtained from the software ADAMS.(2) The kinematic analysis of8R spatial mechanism is investigated based on thetheory of parallel mechanisms. The configuration change is produced firstly. ThenPosition analysis is presented via coordinate transformation matrixes. Velocityanalysis is then carried out using theory screw leading to the Jacobian of theproposed mechanism. The equations are further computed with numerical methodand two numerical examples are provided so as to illustrate the efficiency of themethod. The numerical results of kinematics analysis are proved to be appropriatecompared with the results obtained from the commercial software ADAMS.(3) The kinematic analysis of Schatz linkage is investigated based on the theory ofparallel mechanisms. Position analysis is presented via three nonlinear equationswhich are constructed based on the geometric constraints of the mechanism.Velocity analysis is then carried out using theory screw leading to the Jacobian ofthe proposed mechanism. The equations are further computed with numericalmethod and two numerical examples are provided so as to illustrate the efficiencyof the method.