Modeling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints

This paper presents modeling and analysis of a 2-axis reconfigurable parallel mechanism. In this paper, generalized model for solving of inverse and direct kinematic problems is presented. Generalized equations that represent the solution of the kinematic problems of parallel kinematic mechanism applicable to any configuration of 2-axis reconfigurable parallel mechanism are derived. Some of characteristic configurations of 2-axis parallel mechanism are shown as examples. For the selected configurations the workspaces are determined and the possible singular positions of these configurations are analized.