Development of parallel-structure mechanisms with four degrees of freedom and four kinematic chains


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Аннотация

Parallel-structure mechanisms with four degrees of freedom and four kinematic chains are discussed. The synthesis of these manipulators were performed using a device of closed screw groups. This approach allows avoiding complex equations of synthesis and analysis of singularities. Kinematic chains may impose equal constraints or different constraints, and each may contain a drive. The main result of this article is the synthesis of a new parallel-structure mechanism and a screw analysis of constraints imposed by the kinematic chains.

Авторлар туралы

V. Glazunov

Blagonravov Institute of Machine Science

Хат алмасуға жауапты Автор.
Email: vaglznv@mail.ru
Ресей, Moscow, 101990

V. Borisov

Blagonravov Institute of Machine Science

Email: vaglznv@mail.ru
Ресей, Moscow, 101990

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