Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations

A. K. Aleshin; V. A. Glazunov; O. Shai; G. V. Rashoyan; S. A. Skvortsov; A. B. Lastochkin

doi:10.3103/S1052618816050034

Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations

Authors: Aleshin A.K.¹, Glazunov V.A.¹, Shai O.², Rashoyan G.V.¹, Skvortsov S.A.¹, Lastochkin A.B.¹
Affiliations:
1. Blagonravov Institute of Engineering Science
2. Faculty of Engineering
Issue: Vol 45, No 5 (2016)
Pages: 398-402
Section: Mechanics of Machines
URL: https://journals.rcsi.science/1052-6188/article/view/192958
DOI: https://doi.org/10.3103/S1052618816050034
ID: 192958

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Abstract

This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and six kinematic chains that move along a circular guide (rotopod). The solution of these subproblems is necessary for analyzing the topological features of the parallel robot and employing the results of such analysis in control algorithms design.