Determination of the degree of mobility and solution of the direct kinematic problem for an analogue of a Delta robot
- Авторы: Misyurin S.1,2, Kreinin G.2, Markov A.2, Sharpanova N.2
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Учреждения:
- National Research Nuclear University “Moscow Engineering Physics Institute,”
- Blagonravov Research Institute for Machine Science
- Выпуск: Том 45, № 5 (2016)
- Страницы: 403-411
- Раздел: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192963
- DOI: https://doi.org/10.3103/S1052618816050125
- ID: 192963
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Аннотация
A manipulator with three degrees of freedom similar to a Delta robot has been considered. The mechanism degree of mobility has been analyzed and, in the general case, the mechanism has negative mobility. Structural diagram of the mechanism with three degrees of freedom similar to the original one is constructed for solving the direct and inverse kinematic problems. A method for determining mobility based on the study of coupling equations of the mechanism has been proposed. The method is applied to the considered spatial mechanism, an analogue of a Delta robot. The direct kinematic problem has been solved.
Об авторах
S. Misyurin
National Research Nuclear University “Moscow Engineering Physics Institute,”; Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
Россия, Moscow; Moscow
G. Kreinin
Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
Россия, Moscow
A. Markov
Blagonravov Research Institute for Machine Science
Автор, ответственный за переписку.
Email: gla.markov@gmail.com
Россия, Moscow
N. Sharpanova
Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
Россия, Moscow