On the bases of an analysis of the reasons for the low the working principle of the driving mcchanisrn and analyses kinematic accuracy and poor stiffness of the conventional robots, of loading capacity and kinematic accuracy. The numerical a new type of machining robot that is particularly adapted to control system and relevant algorithm, simulation analysis of perform cutting tasks is developed in this study. A new type of 4-the overall characteristics of the robot, intelligent axis combined driving arm is presented and its principle is compensation control of machining accuracy and cutting firstly introduced in this paper, and the mechanical experiment will be presented in other research papers performance is analyzed. Analytical results show that the successively. mechanism is characterized by high stiffness and good kinematic accuracy. 11. 'INFLUENCE FACTORS ON THE STIFFNESS AND KINEMATIC ACCURACY OF ROBOTS 1. INTRODUCTIONWith good flexibility and large workspace, industrial robots have been employed widely in various fields. Recently, it is an active area to apply robot to perform machining tasks, for instance, to use vertical multi-articulated robots to grind, abrade, deburr, scrape, and so forth[ 1],[2],[3]. Also, robots are employed to machine complex shaped faces. All of these illustrate the good flexibility of robots. However, these researches have not got any breakthrough in the sense of low kinematic accuracy and poor stiffness of robots, especially the poor cross-load bearing capacity in the direction perpendicular to the vertical plane, which is disadvantageous for cutting processes since it will lower the machining accuracy and it is easy to cause cutting vibration and decrease machining efficiency.The reasons for poor kinematic precision and low stiffness of conventional robots are firstly analyzed in this study. A new combined 4-axis driven arm is presented based on this analysis. A new type of machining robot is then constructed with this combined mechanism. This paper mainly deals with In order to make robots dexterous (i.e., with high flexibility) and with large work envelope, the structure of generalpurpose robots is characterized by: i) multi-joint(usual1y rotary joints), and ii) long and thin arm. The influence factors on the stiffness and kinematic accuracy are analyzed in the following by taking a robot arm as an example. A. Influence Factors on Arm StiflnessThe stifhess of a robot arm is determined by the stiffness of the links and joints.

A wearable device is proposed for the purpose of practical rehabilitation of temporomandibular disorder (TMD). The three-dimensional movement of the jaw is simplified as moving in the two-dimensional sagittal plane. The normal jaw motion is specified in terms of incisor trajectory and condylar trajectory, the former being used to synthesize the mechanism and the latter for the evaluation. A four-bar linkage is designed to meet the requirements, with adjustable links used for achieving a group of the trajectories. The device is symmetric about the middle sagittal plane of the skull and consists of two identical linkages, one at each side of the jaw and its kinematics is simulated in SimMechanics to evaluate both the device design and the man-machine interaction. Lastly, realistic evaluation is done with adding the compliant components in the hybrid system, where the human jaw is modeled by another planar linkage with special attention given to a TMJ that rotates and translates in space.