Investigation of Special Positions of the Parallel Mechanism of the Delta Family with Four Degrees of Freedom

被引：2
|
作者：
Laryushkin, P. A. [1 ]
Erastova, K. G. [1 ]
Kobylkevich, K. A. [1 ]
Skvortsov, S. A. [2 ]
机构：
[1] Bauman Moscow State Syst Univ, Moscow 105005, Russia
[2] Russian Acad Sci, Blagonravov Res Inst Mech Engn, Moscow 101990, Russia
来源：
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2019年 / 48卷 / 06期
关键词：
parallel mechanisms; special positions; four degrees of freedom; Delta robot;
D O I：
10.3103/S1052618819060074
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The results of investigation of two types of special positions of parallel mechanism with four degrees of freedom and four linear drives are presented. To solve the problem, an iterative algorithm is used, which consists in a linear exhaustive search of the points of the working zone of the mechanism and analysis of the behavior of the determinants of the matrices of partial derivatives of the input and output coordinates. The solution of the problem stated is necessary to estimate the dimensions of the effective working zone of the mechanism and is an important stage in its parametric synthesis and design.
引用
收藏
页码：503 / 509
页数：7
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