Development of parallel-structure mechanisms with four degrees of freedom and four kinematic chains
- Authors: Glazunov V.A.1, Borisov V.A.1
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Affiliations:
- Blagonravov Institute of Machine Science
- Issue: Vol 46, No 5 (2017)
- Pages: 417-425
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193529
- DOI: https://doi.org/10.3103/S1052618817050065
- ID: 193529
Cite item
Abstract
Parallel-structure mechanisms with four degrees of freedom and four kinematic chains are discussed. The synthesis of these manipulators were performed using a device of closed screw groups. This approach allows avoiding complex equations of synthesis and analysis of singularities. Kinematic chains may impose equal constraints or different constraints, and each may contain a drive. The main result of this article is the synthesis of a new parallel-structure mechanism and a screw analysis of constraints imposed by the kinematic chains.
About the authors
V. A. Glazunov
Blagonravov Institute of Machine Science
Author for correspondence.
Email: vaglznv@mail.ru
Russian Federation, Moscow, 101990
V. A. Borisov
Blagonravov Institute of Machine Science
Email: vaglznv@mail.ru
Russian Federation, Moscow, 101990