Мақаланы E-mail арқылы жіберу Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law
- Авторлар: Nosova N.1,2, Kheilo S.3, Glazunov V.1, Tsar’kov A.4
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Мекемелер:
- Mechanical Engineering Research Institute
- National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
- Russian State University (Technology, Design, Art)
- Kaluga Branch
- Шығарылым: Том 47, № 3 (2018)
- Беттер: 205-212
- Бөлім: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193837
- DOI: https://doi.org/10.3103/S1052618818030111
- ID: 193837
Дәйексөз келтіру
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Рұқсат берілді
Тек жазылушылар үшін
Аннотация
A parallel manipulator with six degrees of freedom is considered. A dynamic model for the spherical part of the manipulator is presented. Dynamic analysis is carried out. The real laws of motion of the output link of the spherical part of the manipulator are determined by the screw theory method based on solution of the inverse dynamic problem and the direct velocity problem. The effect of the initial conditions and feedback coefficients on the error of the real law of motion of the output link is analyzed.
Авторлар туралы
N. Nosova
Mechanical Engineering Research Institute; National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
Хат алмасуға жауапты Автор.
Email: natahys@mail.ru
Ресей, Moscow; Moscow, 115409
S. Kheilo
Russian State University (Technology, Design, Art)
Email: natahys@mail.ru
Ресей, Moscow
V. Glazunov
Mechanical Engineering Research Institute
Email: natahys@mail.ru
Ресей, Moscow
A. Tsar’kov
Kaluga Branch
Email: natahys@mail.ru
Ресей, Kaluga
