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Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots

  • Mechanics of Machines
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Abstract

The kinematic screws that determine the topology of singular zones of parallel-structure robots are studied. It has been established that the kinematic screws depend on the actuator mount points.

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Authors and Affiliations

  1. Blagonravov Institute of Machine Science, Russian Academy of Sciences, Moscow, 101990, Russia

    A. K. Aleshin, V. A. Glazunov & G. V. Rashoyan

  2. Research Institute—School of Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel

    Offer Shai

Authors
  1. A. K. Aleshin
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  2. V. A. Glazunov
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  3. G. V. Rashoyan
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  4. Offer Shai
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Corresponding author

Correspondence to A. K. Aleshin.

Additional information

Original Russian Text © A.K. Aleshin, V.A. Glazunov, G.V. Rashoyan, Offer Shai, 2016, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2016, No. 4, pp. 3–8.

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Aleshin, A.K., Glazunov, V.A., Rashoyan, G.V. et al. Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots. J. Mach. Manuf. Reliab. 45, 291–296 (2016). https://doi.org/10.3103/S1052618816040026

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  • DOI: https://doi.org/10.3103/S1052618816040026

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