Table 3 Numerical calculation example of the equivalent rotation
From: Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism
|
Configuration 1 (θ = 0°) |
Configuration 2 (θ = 13°) |
Configuration 3 (θ = 26°) |
Configuration 4 (θ = 40°) | |
|---|---|---|---|---|
| Equation of rotation axis | \(\frac{x}{ - 0.7933} = \frac{y}{0.1257} = \frac{z}{ - 0.5957}\) | |||
| Institutional configuration φ, γ |
φ = 75° γ = − 20° |
φ = 74.5° γ = − 7.1° |
φ = 72.9° γ = − 5.8° |
φ = 70° γ = 20° |
| Driving angle |
θ21 = 5.3° θ61 = 56.7° |
θ21 = 18.3° θ61 = 35.3° |
θ21 = 32.3° θ61 = 18.9° |
θ21 = 49.2° θ61 = 3.7° |