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This paper presents a deep research on a novel 2-DOF planar parallel mechanism. The composition of this planar parallel mechanism is introduced, its direct and inverse kinematics solution equations as well as the solution equations for the speed and the acceleration are deduced. Meanwhile, the workspace and the singularity are also analyzed. Through the solving process we can see that the direct and inverse solution equations of this mechanism have explicit expressions and convenient to realize real-time control. It forms a solid basis for the design and development of this mechanism.

Abstract. This paper introduces a kind of the harmonic motion curves, which characterized by multi-harmonic component, and the expression form can be divided into two cases: general Cam mechanism and indexing Cam mechanism. Combined with the instance, it compares the characteristic values with other commonly motion curves to embody the advantages of the harmonic motion. Furthermore, respectively analyze the effect of the harmonic order number on the general Cam curve, and the relevant parameters of the harmonic motion curves influence on the properties of indexing Cam movement. Finally, obtain some theoretical and practical significance conclusions.

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