Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure


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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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