Email this article Construction of Program Motions of Relative Manipulation Mechanisms with Three Degrees of Freedom
- Authors: Vorob’ev E.I.1, Mikheev A.V.1, Morgunenko K.O.2
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Affiliations:
- Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences
- MIREA – Russian Technological University
- Issue: Vol 48, No 6 (2019)
- Pages: 510-516
- Section: Mechanics of Machines
- URL: https://journal-vniispk.ru/1052-6188/article/view/194357
- DOI: https://doi.org/10.3103/S1052618819060104
- ID: 194357
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Abstract
The method of coordination of motions of the modules of a relative manipulation mechanism with three degrees of freedom is proposed. The method is based on using the constraint equations of the modules and the generalized coordinates of the mechanism as a whole. The problems of the construction of joint motion of modules implementing the program motion of the point of the output link of one module in the mobile coordinate system of another module were solved.
About the authors
E. I. Vorob’ev
Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences
Email: constantine-km@yandex.ru
Russian Federation, Moscow, 101990
A. V. Mikheev
Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences
Email: constantine-km@yandex.ru
Russian Federation, Moscow, 101990
K. O. Morgunenko
MIREA – Russian Technological University
Author for correspondence.
Email: constantine-km@yandex.ru
Russian Federation, Moscow, 119454
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