Determination of the degree of mobility and solution of the direct kinematic problem for an analogue of a Delta robot
- 作者: Misyurin S.1,2, Kreinin G.2, Markov A.2, Sharpanova N.2
-
隶属关系:
- National Research Nuclear University “Moscow Engineering Physics Institute,”
- Blagonravov Research Institute for Machine Science
- 期: 卷 45, 编号 5 (2016)
- 页面: 403-411
- 栏目: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/192963
- DOI: https://doi.org/10.3103/S1052618816050125
- ID: 192963
如何引用文章
详细
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.
作者简介
S. Misyurin
National Research Nuclear University “Moscow Engineering Physics Institute,”; Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
俄罗斯联邦, Moscow; Moscow
G. Kreinin
Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
俄罗斯联邦, Moscow
A. Markov
Blagonravov Research Institute for Machine Science
编辑信件的主要联系方式.
Email: gla.markov@gmail.com
俄罗斯联邦, Moscow
N. Sharpanova
Blagonravov Research Institute for Machine Science
Email: gla.markov@gmail.com
俄罗斯联邦, Moscow