Soheil Zarkandi
Jacobian matrix, isotropy analysis, instant centre, planar mechanisms
Instant centres are one of the geometrical devices that can be used for instantaneous kinematic analysis of planar mechanisms. This paper presents a new approach for isotropy analysis of multi-degree-of-freedom (multi-dof) planar parallel mechanisms (PPMs)using the concept of instant centres. First, Jacobian matrix of multi-dof planar mechanisms is derived through instant centres’ properties. Then, the matrix is utilized for isotropy analysis of PPMs and general conditions to have isotropic configurations are identified. Finally, the effectiveness of the proposed method is shown through two illustrative examples.
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