Analysis of the spinning motion and the orientation description methods for 2-DOF RMS

Liu Kai, Yu Jingjun*, Xianwen Kong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this work, two degree-of-freedom rotational mechanisms (2-DOF RMs) also called 2-DOF pointing mechanisms are discussed systematically about their motion characteristic and orientation description methods. Based on the graphical approach, 2-DOF RMs are divided into three types in term of the features of their instantaneous rotational freedom lines, and the models of the spinning motions for all the three types of 2-DOF RMs are built respectively by constraint conditions. According to the spinning motion models, the orientation description methods suitable for the three types of 2-DOF RMs are introduced in detail severally to simplify the kinematic equations in succedent work. Then the correctness of the spinning motion models is verified via the virtual prototype simulation with several examples. Finally, the methods suitable for describing the orientation of these mechanisms are proposed. Conclusions would facilitate the analysis of kinematics of 2-DOF RMs and exhibit the motion characteristics of 2-DOF RMs expressly.

Original languageEnglish
Title of host publicationASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791851814
Publication statusPublished - 2018
Event42nd Mechanisms and Robotics Conference 2018 - Quebec City, Canada
Duration: 26 Aug 201829 Aug 2018


Conference42nd Mechanisms and Robotics Conference 2018
CityQuebec City

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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