Kinematics of A 3-PRP planar parallel robot
نویسندگان
چکیده
Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lanţuri cinematice plane ce conectează platforma mobilă a manipulatorului sunt situate în plan vertical. Cunoscând mişcarea platformei, se dezvoltă cinematica inversă şi se determină poziţiile, vitezele şi acceleraţiile robotului. Unele ecuaţii matriceale oferă expresi iterative şi grafice pentru deplasările, vitezele şi acceleraţiile celor trei acţionori de translaţie.
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ورودعنوان ژورنال:
- CoRR
دوره abs/0904.0058 شماره
صفحات -
تاریخ انتشار 2009