Shifted axis angular positioning mechanisms – unconventional use of exact constraint design

摘要

Paper presents some remarks about designing angular positioners having significant angular displacement and shifted axis of rotation. Those driving mechanism are useful in specific applications where mechanism wraps around other object or there is a need of rotation around virtual axis. Examples of those applications like orthotic robots or gimbals for panoramic motions where developed at Faculty of Mechatronics WUT. Usage of exact constraint method was described including its influence to a kinematic structure of designed mechanism.