Structural and Kinematic Analysis of a Mechanism for Internal Surfaces Processing

Abstract

This paper presents structural and kinematic analysis, as well as the development of a three-dimensional parametric model of the mechanism for internal surfaces processing. The motion of the end-effector in the mechanism is restricted by two general imposed constraints. The mechanism makes it possible to vary the trajectory of the end-effector by changing the length of the fixed link. This mechanism, alongside with the processing of internal surfaces, is also worthwhile to use in devices for stirring various mixtures, laser cutting, and for the reproduction of spatial curves.