Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations
- Авторы: Aleshin A.1, Glazunov V.1, Shai O.2, Rashoyan G.1, Skvortsov S.1, Lastochkin A.1
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Учреждения:
- Blagonravov Institute of Engineering Science
- Faculty of Engineering
- Выпуск: Том 45, № 5 (2016)
- Страницы: 398-402
- Раздел: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192958
- DOI: https://doi.org/10.3103/S1052618816050034
- ID: 192958
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Аннотация
This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and six kinematic chains that move along a circular guide (rotopod). The solution of these subproblems is necessary for analyzing the topological features of the parallel robot and employing the results of such analysis in control algorithms design.
Об авторах
A. Aleshin
Blagonravov Institute of Engineering Science
Автор, ответственный за переписку.
Email: gagik_r@bk.ru
Россия, Moscow
V. Glazunov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Россия, Moscow
O. Shai
Faculty of Engineering
Email: gagik_r@bk.ru
Израиль, Tel Aviv
G. Rashoyan
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Россия, Moscow
S. Skvortsov
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Россия, Moscow
A. Lastochkin
Blagonravov Institute of Engineering Science
Email: gagik_r@bk.ru
Россия, Moscow