Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations |
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Authors: | A K Aleshin V A Glazunov O Shai G V Rashoyan S A Skvortsov A B Lastochkin |
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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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