Journal ArticleDOI
Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure
Reads0
Chats0
TLDR
A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling with the method of partial derivatives and the apparatus of the theory of screws is considered.Abstract:
A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling is considered. The Gosselin and Angeles method of partial derivatives and the apparatus of the theory of screws is used.read more
Citations
More filters
Journal ArticleDOI
Analysis and synthesis of parallel structure mechanism without singularities
G. V. Rashoyan,A. K. Aleshin,Anton Antonov,L V Gavrilina,V. A. Glazunov,S. A. Skvortsov,K. A. Shalyukhin +6 more
Book ChapterDOI
Analysis of the Structure and Workspace of the Isoglide-Type Robot for Rehabilitation Tasks
TL;DR: A methodology for constructing a maximum workspace for Isoglide-type mechanisms, which is based on the use of the chord method, is presented.
Journal ArticleDOI
The Direct Position Problem for l -Coordinate Mechanisms of Various Types
TL;DR: In this article, an algorithm for solving the direct position problem for spatial mechanisms of a parallel structure with six linear drives is presented, where the direct problem is solved analytically or iteratively depending on the structural scheme of the l-coordinate mechanism.
Identification and Technological Impact of Broadband Vibration on the Object
TL;DR: In this article, the authors present an approach consisting of resonant excitation of objects, including the machine tool, fixture, cutting tool, and part, which can be used for the development of new innovative technological processes.
References
More filters
Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
Journal ArticleDOI
Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide
Damien Chablat,Philippe Wenger +1 more
TL;DR: The Orthoglide as discussed by the authors is a three-degree-of-freedom translational parallel mechanism designed for machining applications with a regular Cartesian workspace shape, uniform performances in all directions, and good compactness.
Posted Content
Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide
Damien Chablat,Philippe Wenger +1 more
TL;DR: The architecture optimization of a three-degree-of-freedom translational parallel mechanism designed for machining applications is addressed, resulting in the Orthoglide, which features a regular Cartesian workspace shape, uniform performances in all directions, and good compactness.
Journal ArticleDOI
Design of decoupled parallel manipulators by means of the theory of screws
TL;DR: In this paper, a study of decoupling of parallel manipulators with three parallel kinematic chains is presented, and the synthesis of these mechanisms is carried out by means of screw groups.
Journal ArticleDOI
Development of mechanisms of parallel structure
Victor Glazunov,A. Yu. Chunichin +1 more
TL;DR: Different mechanisms of parallel structure synthesized and patented by the employees of the A. A. Blagonravov Institute of Machine Science, Russian Academy of Sciences, are considered as mentioned in this paper.