Solving Problems of the Dynamics of a Manipulator with Six Degrees of Freedom

被引：1

作者：

Kheylo, S. V. ^{[1
]}

Garin, O. A. ^{[2
]}

Terekhova, A. N. ^{[1
]}

Prokhorovich, V. E. ^{[3
]}

Dukhov, A. V. ^{[4
]}

机构：

[1] Kosygin State Univ Russia, Moscow, Russia

[2] Bauman Moscow State Tech Univ, Moscow, Russia

[3] ITMO Univ, St Petersburg, Russia

[4] Russian Acad Sci, Mech Engn Res Inst, Moscow, Russia

来源：

JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2022年 / 51卷 / 01期

关键词：

spatial mechanisms; dynamic analysis; helical calculus; PARALLEL; MECHANISMS; INSTITUTE; PROSPECTS;

D O I：

10.3103/S1052618821060108

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The mechanisms of a parallel structure with six degrees of freedom and six linear motors installed on the base in such a way that the axes of the motors are parallel to the axes of a fixed coordinate system are considered. The peculiarity of such mechanisms is that, with the same movement of two motors, the axes of which are parallel to one axis, the gear ratio from the motors to the output link is equal to one. The kinematic analysis is presented, and the power screws transmitted from the kinematic links to the output link are determined, taking into account the moments of these power screws relative to the axes of the moving coordinate system. The solution of the direct dynamics problem for a certain position of the mechanism is shown.

引用

页码：30 / 36

页数：7

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