Defining a Service Angle for Planar Mechanisms of Manipulators based on the Instantaneous States Analysis

International Conference on Mechanical Engineering, Automation and Control Systems 2015

机械制造;无线电电子学;计算机科学

Pritykin, F.^1 ; Gordeev, O.^1

Department of Engineering Geometry and CAD, Omsk State Technical University, 11, Mira ave., Omsk

644050, Russia^1

关键词: Different structure;    Kinematic chain;    Motion synthesis;    Planar mechanism;    Service angles;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/124/1/012025/pdf
DOI  :  10.1088/1757-899X/124/1/012025

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The paper provides an algorithm of defining a service angle for planar mechanisms of manipulators having different structures of kinematic chains. The algorithm is based on the motion synthesis in the vector of velocities. The functions defining specified angle determination accuracy by the developed method are obtained.