Automatic Mobility Analysis of Parallel Mechanisms Based on Position and Orientation Characteristic Equation. Part II: Mobility analysis and Examples

  • Xiaorong Zhu
  • Huiping ShenEmail author
  • Chengqi Wu
  • Tingli Yang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


As a sequel to the previous paper, based on the algorithmic rules of position and orientation characteristic (POC), this paper studied the principle, algorithm of computer-aided mobility analysis of parallel mechanisms (PMs), and further developed an automatic analysis platform for mobility of PMs. With this platform, users only need to enter decimal data of topological structures representation of PMs, and the number of degree of freedom(DOF) and its properties will also be analyzed and displayed automatically. Typical examples are provided to show the effectiveness of the software.


Parallel mechanism Mobility Automatic analysis platform 


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This work was supported by the National Natural Science Foundation of China (NSFC) under Grant No.51475050.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Xiaorong Zhu
    • 1
  • Huiping Shen
    • 1
    Email author
  • Chengqi Wu
    • 1
  • Tingli Yang
    • 1
  1. 1.Changzhou UniversityChangzhou, JiangsuChina

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