Structural-Parametric Synthesis of Planar Motion Generating Mechanisms and Manipulators

被引：0
|
作者：
Baigunchekov, Zhumadil [1 ]
Laribi, Med Amine [2 ]
Carbone, Giuseppe [3 ]
Qian, Li [4 ]
Wang Xuelin [4 ]
Kaiyrov, Rustem [5 ]
Dosbossyn, Anar [1 ]
机构：
[1] Al Farabi Kazakh Natl Univ, Alma Ata 050040, Kazakhstan
[2] Univ Poitiers, Prime Inst CNRS, Dept GMSC, ENSMA,UPR 3346, Poitiers, France
[3] Univ Calabria, Via Bucci Cubo 45C, I-87036 Arcavacata Di Rende, Italy
[4] Shandong Acad Sci, Inst Automat, Beijing, Peoples R China
[5] Karaganda Buketov Univ, Lab Appl Mech & Robot, Karaganda 100001, Kazakhstan
来源：
MECHANISM DESIGN FOR ROBOTICS, MEDER 2024 | 2024年
关键词：
Motion generating mechanism; Structural-parametric synthesis; Least-square approximation; JOINTED KINEMATIC CHAINS; ROBOT HANDS; LINKAGES; HOMOTOPY;
D O I：
10.1007/978-3-031-67383-2_39
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper studies a structural parametric synthesis of the four-bar and Stephenson I, Stephenson II, Stephenson III A, Stephenson III B six-bar motion generating mechanisms. Four-bar motion generating mechanism is formed by connecting the output body and base by two negative closing kinematic chains (CKCs) of the type RR. The six-bar Stephenson I, Stephenson II, Stephenson III A, Stephenson III B motion generating mechanisms are formed by connecting the output body and base by active CKC of the type RRR and two negative CKCs of the type RR. Active and negative CKCs impose geometric constraints on the movement of the output body and they work at certain values of the geometric parameters of their links, which are determined by least- square approximation.
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页码：371 / 381
页数：11
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