Dynamics of A2-dof orienting gear mechanism

Abstract

Recursive matrix relations for the kinematics and the dynamics analysis of a 2-DOF orienting gear train are established in this paper. The mechanism is a parallel system with five moving links and three bevel gear pairs controlled by two electric motors. Knowing the rotation motion of the end-effector, the inverse dynamics problem is solved using the fundamental principle of virtual work. Finally, some graphs for the input angles of rotation and the powers of the actuators are obtained.