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Modelling and Analysis of 3-Axis Reconfigurable Hybrid Kinematics Mechanism with Translatory Actuated Joints

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Proceedings of 5th International Conference on Advanced Manufacturing Engineering and Technologies (NEWTECH 2017)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Production Engineering Department, University of Belgrade, Kraljice Marije 16, 11000, Belgrade, Serbia

    Goran Vasilic, Sasa Zivanovic & Branko Kokotovic

Authors
  1. Goran Vasilic
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  2. Sasa Zivanovic
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  3. Branko Kokotovic
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Corresponding author

Correspondence to Goran Vasilic .

Editor information

Editors and Affiliations

  1. University Belgrade , Belgrade, Serbia

    Vidosav Majstorovic

  2. University of Belgrade , Belgrade, Serbia

    Zivana Jakovljevic

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Vasilic, G., Zivanovic, S., Kokotovic, B. (2017). Modelling and Analysis of 3-Axis Reconfigurable Hybrid Kinematics Mechanism with Translatory Actuated Joints. In: Majstorovic, V., Jakovljevic, Z. (eds) Proceedings of 5th International Conference on Advanced Manufacturing Engineering and Technologies. NEWTECH 2017. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-56430-2_32

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  • DOI: https://doi.org/10.1007/978-3-319-56430-2_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56429-6

  • Online ISBN: 978-3-319-56430-2

  • eBook Packages: EngineeringEngineering (R0)

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