Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure
- Authors: Shalyukhin K.A.1, Rashoyan G.V.1, Aleshin A.K.1, Skvortsov S.A.1, Levin S.V.1, Antonov A.V.1
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Affiliations:
- Blagonravov Mechanical Engineering Research Institute
- Issue: Vol 47, No 4 (2018)
- Pages: 310-316
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193903
- DOI: https://doi.org/10.3103/S1052618818040143
- ID: 193903
Cite item
Abstract
A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling is considered. The Gosselin and Angeles method of partial derivatives and the apparatus of the theory of screws is used.
About the authors
K. A. Shalyukhin
Blagonravov Mechanical Engineering Research Institute
Author for correspondence.
Email: constmeister@gmail.com
Russian Federation, Moscow
G. V. Rashoyan
Blagonravov Mechanical Engineering Research Institute
Email: constmeister@gmail.com
Russian Federation, Moscow
A. K. Aleshin
Blagonravov Mechanical Engineering Research Institute
Email: constmeister@gmail.com
Russian Federation, Moscow
S. A. Skvortsov
Blagonravov Mechanical Engineering Research Institute
Email: constmeister@gmail.com
Russian Federation, Moscow
S. V. Levin
Blagonravov Mechanical Engineering Research Institute
Email: constmeister@gmail.com
Russian Federation, Moscow
A. V. Antonov
Blagonravov Mechanical Engineering Research Institute
Email: constmeister@gmail.com
Russian Federation, Moscow
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