Pink plate of 4 DOF is controlled by for step motors via blue timing belt drives, sliders, violet and yellow bars.
Each slider is fixed to front branch of its belt.
Three red parts have revolution joints with the plate and yellow bars.
Blue slider motion makes the plate go along Z axis.
Orange slider motion makes the plate go along X axis.
The motions of two green sliders make the plate go in XY plane and rotate around Z axis.
In case the blue and orange sliders are immobile:
- If green sliders move in the same direction and with the same speed, the plate moves along X axis only.
- If green sliders move in opposite directions and with the same speed, the plate moves along Y axis and rotates around Z axis.
See a real mechanism:
/watch?v=CNeH8c8RvZM