Отправить статью по E-mail Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law
- Авторы: Nosova N.Y.1,2, Kheilo S.V.3, Glazunov V.A.1, Tsar’kov A.V.4
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Учреждения:
- Mechanical Engineering Research Institute
- National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
- Russian State University (Technology, Design, Art)
- Kaluga Branch
- Выпуск: Том 47, № 3 (2018)
- Страницы: 205-212
- Раздел: 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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Аннотация
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.
Об авторах
N. Nosova
Mechanical Engineering Research Institute; National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
Автор, ответственный за переписку.
Email: natahys@mail.ru
Россия, Moscow; Moscow, 115409
S. Kheilo
Russian State University (Technology, Design, Art)
Email: natahys@mail.ru
Россия, Moscow
V. Glazunov
Mechanical Engineering Research Institute
Email: natahys@mail.ru
Россия, Moscow
A. Tsar’kov
Kaluga Branch
Email: natahys@mail.ru
Россия, Kaluga
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