Development of parallel-structure mechanisms with four degrees of freedom and four kinematic chains
- 作者: Glazunov V.1, Borisov V.1
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隶属关系:
- Blagonravov Institute of Machine Science
- 期: 卷 46, 编号 5 (2017)
- 页面: 417-425
- 栏目: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193529
- DOI: https://doi.org/10.3103/S1052618817050065
- ID: 193529
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详细
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.
作者简介
V. Glazunov
Blagonravov Institute of Machine Science
编辑信件的主要联系方式.
Email: vaglznv@mail.ru
俄罗斯联邦, Moscow, 101990
V. Borisov
Blagonravov Institute of Machine Science
Email: vaglznv@mail.ru
俄罗斯联邦, Moscow, 101990