Orientation mechanism with linear drives for robot manipulators and limb prostheses

Аннотация

The design of an orientation mechanism with linear drives is considered. The matrix method is used for kinematic determination of the displacements and speeds in linear drives that ensure specified motion of the output element around a fixed point, with three, two, and one degrees of freedom. On that basis, the forces of the drives are determined for specified torques at the output element.