Abstract
In order to control the rotation of the end effector in a long and narrow space, a spatial parallel mechanism that can realize 2 degrees of freedom rotation is proposed. In this article, the forward kinematics model is established according to the constraint conditions of the mechanism’s pose, and the closed vector method is used to obtain the inverse kinematics model. Then based on the kinematics results, the dynamic inverse solution model was established by Newton-Euler method, and the dynamic analysis of the whole mechanism was carried out. Finally, the theoretical calculation results are compared with the simulation results of Adams software to verify the accuracy of the solution process.
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