THE WORKSPACE AND THE SINGULARITIES OF THE 3KTK SPATIAL PARALLEL MANIPULATOR

被引：0

作者：

Nedezki, Claudiu Mihai ^{[1
]}

Trif, Adrian ^{[2
]}

Kerekes, Gheorghe ^{[3
]}

机构：

[1] Tehn Univ Cluj Napoca, Dept Engn & Robot, Calea Turzii St 67, Cluj Napoca, Romania

[2] Tehn Univ Cluj Napoca, Dept Mfg Engn, Cluj Napoca 400587, Romania

[3] Tehn Univ Cluj Napoca, Dept Mech Syst Engn, Cluj Napoca, Romania

来源：

ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2014年 / 57卷 / 02期

关键词：

parallel manipulator; the meshing method; the Jacobian matrix; the input - output equations; the singularities; degrees of freedom;

D O I：

暂无

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

In this article is studied the graphical representation using the meshing method (based on input-output equations and on a program designed in AutoLISP - AutoCAD) for the workspace and for the singularities of the 3KTK manipulator with 3 degrees of freedom in translation. Is calculated the areas of the different plane sections (Zp = constant), and the workspace volume. It shows the influence of the the constructive parameters on the workspace of the manipulator.

引用

页码：175 / 178

页数：4