Enviar artigo por via de e-mail Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law
- Autores: Nosova N.1,2, Kheilo S.3, Glazunov V.1, Tsar’kov A.4
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Afiliações:
- Mechanical Engineering Research Institute
- National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
- Russian State University (Technology, Design, Art)
- Kaluga Branch
- Edição: Volume 47, Nº 3 (2018)
- Páginas: 205-212
- Seção: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193837
- DOI: https://doi.org/10.3103/S1052618818030111
- ID: 193837
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Resumo
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.
Sobre autores
N. Nosova
Mechanical Engineering Research Institute; National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
Autor responsável pela correspondência
Email: natahys@mail.ru
Rússia, Moscow; Moscow, 115409
S. Kheilo
Russian State University (Technology, Design, Art)
Email: natahys@mail.ru
Rússia, Moscow
V. Glazunov
Mechanical Engineering Research Institute
Email: natahys@mail.ru
Rússia, Moscow
A. Tsar’kov
Kaluga Branch
Email: natahys@mail.ru
Rússia, Kaluga
