Email this article Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom
- Authors: Laryushkin P.A.1, Erastova K.G.1, Filippov G.S.2, Kheylo S.V.3
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Affiliations:
- Bauman Moscow State Technical University
- Blagonravov Mechanical Engineering Research Institute
- Kosygin Moscow State University of Design and Technology
- Issue: Vol 48, No 3 (2019)
- Pages: 204-210
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/194216
- DOI: https://doi.org/10.3103/S1052618819030105
- ID: 194216
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Abstract
This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are presented. An example of calculation of the working space, as well as the solutions of inverse problem on speeds (using theory of screws) for the mechanism with four degrees of freedom, are presented.
About the authors
P. A. Laryushkin
Bauman Moscow State Technical University
Author for correspondence.
Email: pav.and.lar@gmail.com
Russian Federation, Moscow, 105005
K. G. Erastova
Bauman Moscow State Technical University
Email: pav.and.lar@gmail.com
Russian Federation, Moscow, 105005
G. S. Filippov
Blagonravov Mechanical Engineering Research Institute
Email: pav.and.lar@gmail.com
Russian Federation, Moscow, 101990
S. V. Kheylo
Kosygin Moscow State University of Design and Technology
Email: pav.and.lar@gmail.com
Russian Federation, Moscow, 117997
