Construction of Program Motions of Relative Manipulation Mechanisms with Three Degrees of Freedom

E. I. Vorob’ev; A. V. Mikheev; K. O. Morgunenko

doi:10.3103/S1052618819060104

Construction of Program Motions of Relative Manipulation Mechanisms with Three Degrees of Freedom

作者: Vorob’ev E.I.¹, Mikheev A.V.¹, Morgunenko K.O.²
隶属关系:
1. Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences
2. MIREA – Russian Technological University
期: 卷 48, 编号 6 (2019)
页面: 510-516
栏目: Mechanics of Machines
URL: https://journals.rcsi.science/1052-6188/article/view/194357
DOI: https://doi.org/10.3103/S1052618819060104
ID: 194357

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详细

The method of coordination of motions of the modules of a relative manipulation mechanism with three degrees of freedom is proposed. The method is based on using the constraint equations of the modules and the generalized coordinates of the mechanism as a whole. The problems of the construction of joint motion of modules implementing the program motion of the point of the output link of one module in the mobile coordinate system of another module were solved.