THE KINEMATICAL MODEL OF THE NEW 4P - 2S – 2TCP - 2R PARALLEL KINEMATIC MECHANISM

Gheorghe KEREKES

Abstract


The 4P-2S–2TCP-2R is a spatial four degrees of freedom Parallel Kinematic Mechanism. The secondary platforms are guided in space by two arms. Each arm consists of a linear actuators. The actuators are fixed to the ground. The first actueter is linked to the secondary platform by Conetip –Plane joint and the second one by Spherical joint. The secondary platforms are connected to the main platform through revolute joints. This paper deals with the mechanical structure of a new four degrees of freedom spatial mechanism. This paper also deals with the kinematical model of the mechanism. Key words: P - Prismatic joint, R - Revolute joint, TCP – Conetip –Plane joint, PKM - Parallel Kinematic Mechanism, DOF - Degrees of Freedom, main platform, secondary platform.

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References


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