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Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations

  • Mechanics of Machines
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Abstract

This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and six kinematic chains that move along a circular guide (rotopod). The solution of these subproblems is necessary for analyzing the topological features of the parallel robot and employing the results of such analysis in control algorithms design.

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Authors and Affiliations

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

    A. K. Aleshin, V. A. Glazunov, G. V. Rashoyan, S. A. Skvortsov & A. B. Lastochkin

  2. Faculty of Engineering, Tel Aviv University, Tel Aviv, Israel

    O. Shai

Authors
  1. A. K. Aleshin
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  2. V. A. Glazunov
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  3. O. Shai
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  4. G. V. Rashoyan
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  5. S. A. Skvortsov
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  6. A. B. Lastochkin
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Corresponding author

Correspondence to A. K. Aleshin.

Additional information

Original Russian Text © A.K. Aleshin, V.A. Glazunov, O. Shai, G.V. Rashoyan, S.A. Skvortsov, A.B. Lastochkin, 2016, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2016, No. 5, pp. 17–21.

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Aleshin, A.K., Glazunov, V.A., Shai, O. et al. Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations. J. Mach. Manuf. Reliab. 45, 398–402 (2016). https://doi.org/10.3103/S1052618816050034

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  • DOI: https://doi.org/10.3103/S1052618816050034

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