Abstract This paper analyses the kinematics and dynamics of an over-constrained parallel mechanism with four degrees of freedom providing Schonflies motion with infinite tool rotation. Despite its limited motion capability in one translational degree of freedom, the proposed mechanism has several potential uses, such as assembly of electronic components or fabric cutting. Firstly, the instantaneous kinematic problem of the investigated mechanism is presented, which includes formulating the inverse kinematics for the position, velocity and acceleration of the mechanism. Then, singular configurations of the manipulator are studied, based on the obtained Jacobin matrices. Secondly, based on the foregoing kinematic relations and the concept of link Jacobian matrices, the dynamic model is formulated by means of the principle of virtual work. Finally, the correctness of the derived models is verified by comparing the results obtained from the formulated models with those obtained using MATLAB Simscape Multibody.

中文翻译：

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一种新型并联运动 Schönflies 运动发生器的运动学和动力学分析

摘要 本文分析了具有四个自由度的过约束并联机构的运动学和动力学，该机构为 Schonflies 运动提供无限工具旋转。尽管其在一个平移自由度上的运动能力有限，但所提出的机制具有多种潜在用途，例如电子元件的组装或织物切割。首先，提出了所研究机构的瞬时运动学问题，包括制定机构的位置、速度和加速度的逆运动学问题。然后，基于获得的雅各宾矩阵研究了机械手的奇异配置。其次，基于上述运动学关系和链接雅可比矩阵的概念，利用虚功原理建立了动力学模型。最后，