Parallel Robots with a Circular Guide: Systematic Review of Kinematic Schemes and Methods of Synthesis and Analysis

被引：10
作者：
Kiselev, S. V. [1 ]
Antonov, A. V. [1 ]
Fomin, A. S. [1 ]
机构：
[1] Russian Acad Sci, Mech Engn Res Inst, Moscow, Russia
来源：
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2022年 / 51卷 / 01期
关键词：
mechanism; manipulator; parallel robot; circular guide; kinematic chain; degree of freedom; type synthesis; mobility analysis; workspace; singularities; dimensional synthesis; DISPLACEMENT ANALYSIS; MECHANISM; DESIGN; MANIPULATOR; OPTIMIZATION;
D O I：
10.3103/S1052618822010058
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The article reviews various designs of parallel robots with a circular guide, which provide the output link with an unlimited rotation around one of the axes. The paper considers familiar methods and algorithms for type and dimensional synthesis and mobility analysis, singularity determination, and workspace construction for such robots. The performed study presents the current state of the problems mentioned above and shows the directions for future research in this field.
引用
收藏
页码：20 / 29
页数：10
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