Synthesis by Screw Algebra of Translating in-Parallel Actuated Mechanisms

Abstract

A new approach to the study of screw systems variations, for infinitesimal motions, is proposed by analyzing the end-effector acceleration of a serial chain. The developed results are applied to the synthesis of translating in-parallel actuated mechanisms. A novel design method is used. to identify screw systems that present invariable kinematic properties for finite motions.