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Axodes Analysis of the Multi DOF Parallel Mechanisms and Parasitic Motion

[+] Author Affiliations
Ziming Chen, Huafeng Ding, Wenao Cao, Zhen Huang

Yanshan University, Qinhuangdao, China

Paper No. DETC2013-12838, pp. V06AT07A052; 9 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6A: 37th Mechanisms and Robotics Conference
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5593-5
  • Copyright © 2013 by ASME


The general motion of a spatial mechanism is a screw motion about an instantaneous screw axis (ISA). The locus of a series of ISAs will form a ruled surface, which can be called as an axode. For a spatial mechanism with only one degree of freedom (DOF), the ISAs or the axodes of the moving platform are unique. However, the axodes of the parallel mechanisms (PMs) with multi DOF are related to the specific motion which has various possibilities. In this paper, the ISAs of the multi DOF PMs are studied using the jacobian matrix which is changing with the configurations of the moving platform. The axodes of the multi DOF PMs with different inputs or outputs are obtained using this method. Based on the analyzed results, it is very clear that the general motions of the PMs are screw motions or rotations about a series of ISAs. In the end, the parasitic motion of the PMs is studied. For a PM, the parasitic motion will exist if the rotational freedoms are not rotations about a fixed point or axis.

Copyright © 2013 by ASME



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