Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments

A parallel structure mechanism with six degrees of freedom designed to operate in extreme environments is considered. A technique for searching for an analytical solution of the inverse kinematics problem and the numerical solution of the direct kinematics problem for the given mechanism is presente...

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Veröffentlicht in:	Journal of machinery manufacture and reliability 2018, Vol.47 (2), p.121-127
Hauptverfasser:	Antonov, A. V., Glazunov, V. A., Aleshin, A. K., Rashoyan, G. V., Laktionova, M. M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Engineering Extreme environments Inverse kinematics Kinematics Machines Manufacturing Mechanics of Machines Processes
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	A parallel structure mechanism with six degrees of freedom designed to operate in extreme environments is considered. A technique for searching for an analytical solution of the inverse kinematics problem and the numerical solution of the direct kinematics problem for the given mechanism is presented. Examples of these problems solutions are considered. The operating area of the mechanism is defined. The obtained results are tested successfully at a test facility.
ISSN:	1052-6188 1934-9394
DOI:	10.3103/S1052618818020036