Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

P. A. Laryushkin; K. G. Erastova; G. S. Filippov; S. V. Kheylo

doi:10.3103/S1052618819030105

Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

Авторлар: Laryushkin P.A.¹, Erastova K.G.¹, Filippov G.S.², Kheylo S.V.³
Мекемелер:
1. Bauman Moscow State Technical University
2. Blagonravov Mechanical Engineering Research Institute
3. Kosygin Moscow State University of Design and Technology
Шығарылым: Том 48, № 3 (2019)
Беттер: 204-210
Бөлім: 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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Аннотация

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.