Matrix modelling in dynamics of a 2-DOF orienting gear train

Recursive matrix relations for kinematics and 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 dynamic problem is solved using an approach based on the principle of virtual work and have verified the results in the framework of the Lagrange equations of the second kind. Finally, some graphs for the input angles of rotation, the forces and the powers of the actuators are obtained.

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