Synthesis, kinematic and dynamic simulation of foldable parallel mechanisms with a circular rail

The article considers foldable parallel mechanisms with a circular rail (FoldRail mechanisms), which give rise to a new family of mechanical systems. These mechanisms rotate unlimitedly around the rail axis, transform between planar and spatial configurations, and have an increased workspace compared to other parallel mechanisms with a circular rail. First, the paper introduces a type synthesis algorithm of the FoldRail mechanisms that includes a development of a kinematic chain, whose structure allows creating the considered mechanisms. Next, the article performs an inverse kinematic and dynamic analysis for a novel three-chain mechanism based on its virtual prototype. During the simulation, the output link of the mechanism follows a spiral-like trajectory, such that all the drives become actuated. The obtained results allow selecting the actuators for the driving links.

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