Abstract
This paper presents the dynamics and control of a two degree-of-freedom 4C mechanism synthesized to guide a body through a spatial trajectory. A CC dyad, a coupling of fixed and moving cylindric or C joints, can be designed to reach five spatial positions. Two seperate CC dyads designed to reach three positions are rigidly connected between the two moving C joints defining the 4C mechanism presented. Constrained Lagrangian formulation was used to determine the actuator forcing for a desired trajectory of the input joint (both displacement and rotation). The mechansim was implemented and controlled in ADAMS© software using a feed-forward, feedback control scheme. This technique produced a realistic model with excellent trajectory following characteristics.
