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

来源：

MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 07期

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

页码：917 / 932

页数：16