Kinematic and dynamic modeling of a novel 4-degree-of-freedom parallel mechanism

Abstract. In this paper, a novel 4-degree-of-freedom (DOF) parallel mechanism (PM) limb is proposed. The properties of the degrees of freedom are verified based on the screw theory. The inverse position, velocity, and acceleration models of the mechanism are developed. The position workspace of the mechanism is generated based on the inverse kinematic model. The singular configurations are identified within the workspace. The distribution of the stiffness index in the workspace is visualized. The inverse dynamic model of the mechanism is developed based on the Lagrangian method. The kinematic and dynamic simulations of the mechanism are carried out in Adams to verify the correctness of the theoretical model. Most of the kinematic joints of the mechanism are revolute joints and form the sub-closed-loop parallelogram structure, which makes this mechanism exhibit promising application prospects for application in high-speed or heavy-load fields.