The dynamics of parallel Schönflies motion generators: The case of a two-limb system
作者： A Cammarata , J Angeles , R Sinatra
关键词: Parallelogram 、 Kinematic chain 、 Control theory 、 Revolute joint 、 Engineering 、 SCARA 、 Topology 、 Robot 、 Linkage (mechanical) 、 Rotation (mathematics) 、 Motion (geometry)
摘要: AbstractThe formulation of the mathematical model governing dynamics parallel Schonflies motion generators (SMGs) is subject this paper. These are robotic systems intended to produce motions that entail displacements subgroup rigid-body displacements. Such representative those produced by serial robots termed SCARA, which involve three independent translations and one rotation about an axis fixed direction. The main features SMGs illustrated with aid McGill generator. This robot composed two limbs, each being a four-joint RΠΠR - R representing revolute, Π joint, or parallelogram linkage kinematic chain, only joints actuated. One important feature SMG its mass distribution, as moving parts account for 10 per cent drive units, (a) frame (b) steel whole robot. Moreover, ...
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