Abstract
The kinematics of a prosthetic arm consisting of a two-DOF multiloop spatial mechanism and a three-DOF series mechanism is described in this paper. In the beginning, the position analysis is discussed. After that the velocity and acceleration are analyzed. The forward and inverse formulas of velocity and acceleration are deduced using kinematic influence coefficient by means of hypothetic mechanism method and all formulas are obtained by explicit expressions of influence coefficient matrices that are the function of dimensional and positional parameters. Finally, a numerical example is calculated and the results of the calculation are verified by an equivalent plane mechanism. The method proposed in this paper may be expanded to the kinematic analysis of any complex series–parallel mechanism.
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