Abstract
This paper analyses the kinematics and dynamics of an over-constrained parallel mechanism with four degrees of freedom providing Schönflies motion with infinite tool rotation. Despite its limited motion capability in one translational degree of freedom, the proposed mechanism has several potential uses, such as assembly of electronic components or fabric cutting.Firstly, the instantaneous kinematic problem of the investigated mechanism is presented, which includes formulating the inverse kinematics for the position, velocity and acceleration of the mechanism. Then, singular configurations of the manipulator are studied, based on the obtained Jacobin matrices. Secondly, based on the foregoing kinematic relations and the concept of link Jacobian matrices, the dynamic model is formulated by means of the principle of virtual work. Finally, the correctness of the derived models is verified by comparing the results obtained from the formulated models with those obtained using MATLAB Simscape Multibody.
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