Email this article Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots
- Authors: Aleshin A.K.1, Glazunov V.A.1, Rashoyan G.V.1, Shai O.2
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Affiliations:
- Blagonravov Institute of Machine Science
- Research Institute—School of Mechanical Engineering
- Issue: Vol 45, No 4 (2016)
- Pages: 291-296
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192854
- DOI: https://doi.org/10.3103/S1052618816040026
- ID: 192854
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Abstract
The kinematic screws that determine the topology of singular zones of parallel-structure robots are studied. It has been established that the kinematic screws depend on the actuator mount points.
About the authors
A. K. Aleshin
Blagonravov Institute of Machine Science
Author for correspondence.
Email: aleshin_ak@mail.ru
Russian Federation, Moscow, 101990
V. A. Glazunov
Blagonravov Institute of Machine Science
Email: aleshin_ak@mail.ru
Russian Federation, Moscow, 101990
G. V. Rashoyan
Blagonravov Institute of Machine Science
Email: aleshin_ak@mail.ru
Russian Federation, Moscow, 101990
Offer Shai
Research Institute—School of Mechanical Engineering
Email: aleshin_ak@mail.ru
Israel, Tel Aviv
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