Email this article Orientation mechanism with linear drives for robot manipulators and limb prostheses
- Authors: Vorob’ev E.I.1, Dorofeev V.O.1
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Affiliations:
- Blagonravov Institute of Mechanical Engineering
- Issue: Vol 37, No 6 (2017)
- Pages: 475-478
- Section: Article
- URL: https://journal-vniispk.ru/1068-798X/article/view/227312
- DOI: https://doi.org/10.3103/S1068798X17060235
- ID: 227312
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Abstract
The design of an orientation mechanism with linear drives is considered. The matrix method is used for kinematic determination of the displacements and speeds in linear drives that ensure specified motion of the output element around a fixed point, with three, two, and one degrees of freedom. On that basis, the forces of the drives are determined for specified torques at the output element.
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About the authors
E. I. Vorob’ev
Blagonravov Institute of Mechanical Engineering
Author for correspondence.
Email: evgeniv36@mail.ru
Russian Federation, Moscow
V. O. Dorofeev
Blagonravov Institute of Mechanical Engineering
Email: evgeniv36@mail.ru
Russian Federation, Moscow
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