SYNTHESIS OF PARALLEL MANIPULATORS WITH LINEAR DRIVE MODULES

被引:9
作者
CHAKAROV, D
PARUSHEV, P
机构
[1] Institute of Mechanics and Biomechanics, Bulgarian Academy of Science, 1113 Sofia, Block 4, Acad. G. Bonchev Street
关键词
D O I
10.1016/0094-114X(94)90061-2
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
A procedure is presented for the synthesis of the mechanical structure of hybrid parallel-serial manipulators with a principal anthropomorphic kinematic chain and infinite number of linear drives. An algorithm for structural synthesis of the manipulators is proposed and some basic structures are created. In addition a dynamical model and a procedure for optimizing synthesis are built. As parameters of optimization, the coordinates of fixing points of linear drives are chosen. Some numerical and physical experiments were performed.
引用
收藏
页码:917 / 932
页数:16
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