3PRS Milling Machine
3-PRS is a 5-axis milling machine with parallel kinematics. The machine tool has been developed by the Mechanical Laboratory of ITRI in Taiwan. The machine was modelled in LinkageDesigner, while the geometries of the links are drawn in a CAD system. The inverse kinematics is defined to follow the edge of the workpiece. The workpiece is generated simply plotting the 2Sin[x/6 y/6]+3 function over the {-10,10} region.
Burn's Differential
The differential mechanism, which was developed by Burn, realize a 1:2 differential ratio between the input and output axes.
Bennett mechanism
The Bennett Linkage is a 4R spatial closed chain. The loop closing equations are difficult to generate since the movement of the linkage is allowed due to special geometric condition. Because of this pecularities the so called blocked direction rotates continuously as the input link rotates. The mechanism is defined in LinkageDesigner with 90 degree between the input and output link's plane of rotation .
Szőke's coupling mechanism
Szoke further developed the coupling mechanism of Burn to get rid of the offset of the input and output shafts. The resulted mechanism is fully functional differential mechanism, that is entirely build up from linkages without any gear. The example shown here is coupling two opposit direction rotating shaft.
Gait analysis
A simple ( 4 DOF) leg modell is built in LinkageDesigner for one leg. This leg was duplicated and driven by Gait values publicly available on the web. The geometries of the right legs are replaced with bone geometries download from the vakhum project.
IRB 6600 Robot
Motion analysis of an industrial robot. The geometries of the robot's links were imported from the web. The direct kinematic model and the inverse kinematic problem was solved with LinkageDesigner.