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Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure

  • Mechanics of Machines
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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.

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Authors and Affiliations

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

    K. A. Shalyukhin, G. V. Rashoyan, A. K. Aleshin, S. A. Skvortsov, S. V. Levin & A. V. Antonov

Authors
  1. K. A. Shalyukhin
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  2. G. V. Rashoyan
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  3. A. K. Aleshin
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  4. S. A. Skvortsov
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  5. S. V. Levin
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  6. A. V. Antonov
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Corresponding author

Correspondence to K. A. Shalyukhin.

Additional information

Original Russian Text © K.A. Shalyukhin, G.V. Rashoyan, A.K. Aleshin, S.A. Skvortsov, S.V. Levin, A.V. Antonov, 2018, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2018, No. 4.

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Shalyukhin, K.A., Rashoyan, G.V., Aleshin, A.K. et al. Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure. J. Mach. Manuf. Reliab. 47, 310–316 (2018). https://doi.org/10.3103/S1052618818040143

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  • DOI: https://doi.org/10.3103/S1052618818040143

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