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

K. A. Shalyukhin; G. V. Rashoyan; A. K. Aleshin; S. A. Skvortsov; S. V. Levin; A. V. Antonov

doi:10.3103/S1052618818040143

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
Affiliations:
1. 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

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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.