Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are presented. An example of calculation of the working space, as well as the solutions of inverse...

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Bibliographic Details
Published inJournal of machinery manufacture and reliability Vol. 48; no. 3; pp. 204 - 210
Main Authors Laryushkin, P. A., Erastova, K. G., Filippov, G. S., Kheylo, S. V.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 01.05.2019
Springer Nature B.V
Subjects
Actuators
Degrees of freedom
Engineering
Inverse problems
Machines
Manufacturing
Mechanics of Machines
Processes
Screw theory
Delta-mechanism
mechanisms of parallel structure
theory of screws
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Summary:This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are presented. An example of calculation of the working space, as well as the solutions of inverse problem on speeds (using theory of screws) for the mechanism with four degrees of freedom, are presented.
ISSN:1052-6188
1934-9394
DOI:10.3103/S1052618819030105