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Kinematics of pantograph device

  1. Nov 2, 2014 #1
    I need to obtain the forward and inverse kinematics of a pantograph device. It is easy when only the one side of the pantograph is considered; So, it becomes a 2DOF planar elbow mechanism, which is easy to solve. However, there is symmetry on pantograph, so I kinda need to combine two planar elbow mechanism, but it confuses me since it's a closed loop mechanism.

    This is the depiction of the mechanism;

    Q1 and Q3 are controlled with the motors and Q2 and Q4 rotates accordingly.
    How am I supposed to approach this mechanism ?
  2. jcsd
  3. Nov 2, 2014 #2
    The key to a pantograph is that each cell forms a rhombus, and the diagonals of a rhombus are always perpendicular. So you are dealing with right triangles.

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