Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 17, issue 1
Articles | Volume 17, issue 1
https://doi.org/10.5194/ms-17-495-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-495-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 17, issue 1
Research article
 | 
08 May 2026
Research article |  | 08 May 2026

Kinematic and dynamic modeling of a novel 4-degree-of-freedom parallel mechanism

Yuming Zhao, Haibing Feng, Huiyuan Chen, and Yanbing Xing

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Short summary
This paper proposes a novel 4-degree-of-freedom parallel mechanism. Its degrees of freedom are verified by screw theory. Inverse position, velocity, and acceleration models are established. The position workspace is obtained, and singular configurations are identified. The stiffness index distribution in the workspace is visualized. The inverse dynamic model is derived using the Lagrangian method. Kinematic and dynamic simulations in Adams verify the correctness of the theoretical model.
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