A Kinematic Design and Analysis of a Robotic Multi Motion Drive Machine

Abstract

This study investigates on the kinematic analysis of a Multi Motion Drive Machine (MMD), in general, of a planar parallel 3-RRR robot with three synchronously driven cranks. For this aim, it is used a special software SAM (Synthesis and Analysis of Mechanisms) for kinematical methods on velocity, acceleration, force and torque analysis, which allows engineers to simulate and optimize 2D mechanisms and drives.