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


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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.

作者简介

K. Shalyukhin

Blagonravov Mechanical Engineering Research Institute

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Email: constmeister@gmail.com
俄罗斯联邦, Moscow

G. Rashoyan

Blagonravov Mechanical Engineering Research Institute

Email: constmeister@gmail.com
俄罗斯联邦, Moscow

A. Aleshin

Blagonravov Mechanical Engineering Research Institute

Email: constmeister@gmail.com
俄罗斯联邦, Moscow

S. Skvortsov

Blagonravov Mechanical Engineering Research Institute

Email: constmeister@gmail.com
俄罗斯联邦, Moscow

S. Levin

Blagonravov Mechanical Engineering Research Institute

Email: constmeister@gmail.com
俄罗斯联邦, Moscow

A. Antonov

Blagonravov Mechanical Engineering Research Institute

Email: constmeister@gmail.com
俄罗斯联邦, Moscow

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