Author:
Glazunov V A,Filippov G S,Rashoyan G V,Aleshin A K,Shalyukhin K A,Skvortsov S A,Antonov A V,Terekhova A N
Abstract
Abstract
A spherical mechanism of parallel structure containing three kinematic chains and performing spherical motions is presented. A distinctive feature of the architecture of the spherical mechanisms is the provision of the constancy of the position of the point – center of rotations. This characteristic causes a wide range of applications of these mechanisms. The kinematic analysis of the mechanism is based on the differentiation of the coupling equations imposed by the kinematic chains. As a result of differentiation, a matrix is obtained by means of which it is possible to solve the direct and inverse problems of kinematics. The velocity analysis is necessary to control the robot and its dynamic analysis.
Subject
General Physics and Astronomy
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献