Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations
- Authors: Aleshin A.K.1, Glazunov V.A.1, Shai O.2, Rashoyan G.V.1, Skvortsov S.A.1, Lastochkin A.B.1
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Affiliations:
- Blagonravov Institute of Engineering Science
- Faculty of Engineering
- Issue: Vol 45, No 5 (2016)
- Pages: 398-402
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192958
- DOI: https://doi.org/10.3103/S1052618816050034
- ID: 192958
Cite item
Abstract
This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and six kinematic chains that move along a circular guide (rotopod). The solution of these subproblems is necessary for analyzing the topological features of the parallel robot and employing the results of such analysis in control algorithms design.
About the authors
A. K. Aleshin
Blagonravov Institute of Engineering Science
Author for correspondence.
Email: gagik_r@bk.ru
Russian Federation, Moscow
V. A. Glazunov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Russian Federation, Moscow
O. Shai
Faculty of Engineering
Email: gagik_r@bk.ru
Israel, Tel Aviv
G. V. Rashoyan
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Russian Federation, Moscow
S. A. Skvortsov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Russian Federation, Moscow
A. B. Lastochkin
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Russian Federation, Moscow