Chapter 9

Fundamental Factors to Investigating the Motions and Actuations of a Mechanism


The actuation schemes of mechanism are investigated via discussing a representative 3-PPRR parallel linkage. After presenting the mechanism architecture, the mobility of the mechanism is analyzed from the aspect of the number of independent parameters in position constraint equations. Based on the mobility obtained through position equations, the number of possible actuation schemes is calculated with a combination formula and the Burnside lemma. Through statics analysis of each actuation scheme, the possible actuation schemes are represented in tables. Examples show that to distinguish the end effector degree of freedom and the independent actuators ...

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