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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 14

Kinematic Synthesis of Spatial Mechanisms

Abstract

The natural coordinates are adopted to deal with the kinematics synthesis for different spatial mechanisms. After obtaining the constraint equations in natural coordinates, the kinematics and dynamics are established with the Newton–Euler formulation. Then the kinematics for the dynamics of a 2R1T spatial parallel manipulator with natural coordinates is developed. This kinematics method satisfies the need for real-time analysis of dynamics because of its computing efficiency. The actuators’ driving forces and the constraints of the joints are built up with this method. Theoretical analysis and simulations are verified through experiments in engineering. The kinematics of a suspension ...

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