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

  • Goran Vasilic
  • Sasa Zivanovic
  • Branko Kokotovic
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (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.

Keywords

3-axis reconfigurable hybrid kinematic mechanism Inverse and direct kinematic problem Workspace Singularities 

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Goran Vasilic
    • 1
  • Sasa Zivanovic
    • 1
  • Branko Kokotovic
    • 1
  1. 1.Faculty of Mechanical Engineering, Production Engineering DepartmentUniversity of BelgradeBelgradeSerbia

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