# Triflex II: design and analysis of a self-aligning parallel mechanism with asymmetrical kinematic structure

Triflex II: design and analysis of a self-aligning parallel mechanism with asymmetrical kinematic... This paper presents a novel asymmetric parallel mechanism with three degrees of freedom, with properties of self-aligning called Triflex II. Triflex II is composed of three legs: $$\overline{P}RRR+\overline{P}RRU+\overline{P}RRS$$ P ¯ R R R + P ¯ R R U + P ¯ R R S that connect a moving platform to the base. This paper discusses the properties of asymmetry and self-aligning of the mechanism presenting and discussing the complete analytical mathematical modeling of direct and inverse kinematics of position and velocity, using geometrical approaches. It is presented also a study of singularities and workspace limits. In order to validate the developed kinematic modeling a numerical simulation is presented. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Meccanica Springer Journals

# Triflex II: design and analysis of a self-aligning parallel mechanism with asymmetrical kinematic structure

, Volume 52 (12) – Jan 18, 2017
12 pages

/lp/springer_journal/triflex-ii-design-and-analysis-of-a-self-aligning-parallel-mechanism-X9WBsd67j2
Publisher
Springer Netherlands
Subject
Physics; Classical Mechanics; Civil Engineering; Automotive Engineering; Mechanical Engineering
ISSN
0025-6455
eISSN
1572-9648
D.O.I.
10.1007/s11012-017-0615-3
Publisher site
See Article on Publisher Site

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