Abstract
Analysis methods utilising screw theory are the main tool for investigating parallel mechanisms. The paper considers the specifics of computing generalised contact forces in these mechanisms featuring less than six degrees of freedom. We show that, in order to calculate the desired contact force magnitude corresponding to a certain wrench of the constraint imposed onto the output link, it is necessary to project the wrenches of the active kinematic pairs in the chain onto a vector space representing an orthogonal complement to the link space of the mechanism. We use a translational guiding mechanism with three degrees of freedom as an example to apply our approach to.
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