Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations


Citar

Texto integral

Acesso aberto Acesso aberto
Acesso é fechado Acesso está concedido
Acesso é fechado Somente assinantes

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

Arquivos suplementares

Arquivos suplementares
Ação
1. JATS XML

Declaração de direitos autorais © Allerton Press, Inc., 2016