Open AccessVelocity analysis of a spherical parallel robot
Author(s) -
В. А. Глазунов,
Г. С. Филиппов,
G. V. Rashoyan,
А. К. Алешин,
K. A. Shalyukhin,
С. А. Скворцов,
А. В. Антонов,
А. Н. Терехова
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1260/11/112012
Subject(s) - kinematics , mechanism (biology) , inverse kinematics , kinematic chain , position (finance) , kinematic diagram , point (geometry) , inverse , robot kinematics , matrix (chemical analysis) , coupling (piping) , computer science , geometry , topology (electrical circuits) , control theory (sociology) , mathematics , robot , classical mechanics , physics , engineering , artificial intelligence , control (management) , mechanical engineering , combinatorics , materials science , mobile robot , quantum mechanics , finance , economics , composite material
A spherical mechanism of parallel structure containing three kinematic chains and performing spherical motions is presented. A distinctive feature of the architecture of the spherical mechanisms is the provision of the constancy of the position of the point – center of rotations. This characteristic causes a wide range of applications of these mechanisms. The kinematic analysis of the mechanism is based on the differentiation of the coupling equations imposed by the kinematic chains. As a result of differentiation, a matrix is obtained by means of which it is possible to solve the direct and inverse problems of kinematics. The velocity analysis is necessary to control the robot and its dynamic analysis.