Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations
- Autores: 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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Afiliações:
- Blagonravov Institute of Engineering Science
- Faculty of Engineering
- Edição: Volume 45, Nº 5 (2016)
- Páginas: 398-402
- Seção: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192958
- DOI: https://doi.org/10.3103/S1052618816050034
- ID: 192958
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Resumo
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.
Sobre autores
A. Aleshin
Blagonravov Institute of Engineering Science
Autor responsável pela correspondência
Email: gagik_r@bk.ru
Rússia, Moscow
V. Glazunov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Rússia, Moscow
O. Shai
Faculty of Engineering
Email: gagik_r@bk.ru
Israel, Tel Aviv
G. Rashoyan
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Rússia, Moscow
S. Skvortsov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Rússia, Moscow
A. Lastochkin
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Rússia, Moscow
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