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
相关论文
共 50 条
  • [21] The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom
    Zhou, K
    Zhao, JS
    Tan, ZY
    Mao, DZ
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2005, 25 (9-10): : 972 - 978
  • [22] The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom
    Kai Zhou
    Jing-Shan Zhao
    Zhong-Yi Tan
    De-Zhu Mao
    The International Journal of Advanced Manufacturing Technology, 2005, 25 : 972 - 978
  • [23] Type synthesis of overconstrained dual parallel mechanisms with three and four degrees of freedom
    Zhao, Tieshi
    Bian, Hui
    Li, Ningning
    Liu, Yanhui
    Sun, Dongbo
    RECONFIGURABLE MECHANISMS AND ROBOTS, 2009, : 176 - 180
  • [24] Development of a New Parallel Mechanism with Five Degrees of Freedom for Ankle Rehabilitation
    Sun, T. y.
    Yu, Z. l.
    Wang, C. B.
    Duan, L. h.
    Liu, Q. q.
    Lu, Z. j.
    Chen, H. q.
    Luo, R. x.
    Li, M.
    Shen, Y. j.
    Qin, J.
    Long, J. j.
    Wang, Y. l.
    Wei, J. j.
    Li, W. g.
    Shi, Q.
    Wu, Z. z.
    2016 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2016, : 296 - 301
  • [25] AN XYZ PARALLEL KINEMATIC FLEXURE MECHANISM WITH GEOMETRICALLY DECOUPLED DEGREES OF FREEDOM
    Awtar, Shorya
    Ustick, John
    Sen, Shiladitya
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B, 2012, : 119 - 126
  • [26] Kinematic Analysis of a Redundant Actuated Five Degrees of Freedom Parallel Mechanism
    Yin Xiaolong
    Li Bin
    Zhao Xinhua
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2018, : 2031 - 2037
  • [27] Fully isotropic four-degrees-of-freedom parallel mechanisms for Schoenflies motion
    Carricato, M
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2005, 24 (05): : 397 - 414
  • [28] A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace
    Guo, Sheng
    Ye, Wei
    Qu, Haibo
    Zhang, Dan
    Fang, Yuefa
    ROBOTICA, 2016, 34 (04) : 764 - 776
  • [29] Type Synthesis of Six Degrees of Freedom Parallel Mechanism with Decoupled Translation and Rotation
    Liu, Ya
    Lu, Wenjuan
    Zeng, Jiahao
    Cong, Jianhua
    Hu, Bo
    Zeng, Daxing
    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT I, 2022, 13455 : 228 - 239
  • [30] Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom
    Gao, Zhen
    Zhang, Dan
    SUSTAINABILITY, 2011, 3 (11): : 2217 - 2228
12345