Spatial properties of Wohlhart symmetric mechanism

International audienceThe aim of this paper is to present a new analytical resolution to find closure equations of Wohlhart symmetric mechanism and to give some interesting spatial properties of this mechanism. These properties are used to put in evidence possible industrial applications for this type of mechanism. First, it concerns the analytic resolution of the twelve equations system obtained from the closure equation, system particularized for the case of Wohlhart symmetric mechanism. The matrix form of closure equations is written for a single loop overconstrained mechanism composed by six revolute joints, mechanisms called 6R. A kinematical analysis is made, putting in evidence some interesting kinematical and geometrical properties. These properties allow us to consider a new spatial disposition for this mechanism, by imposing three non-successive joints to remain in a determined plan. Thus, we obtain a translator, a possible future industrial application for this type of overconstrained mechanism