Control and determination of the kinematic model position of planar parallel mechanism

https://doi.org/10.31130/ud-jst.2023.538E

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Author

  • Vo Dinh Tung
    HUTECH University, Hochiminh, Vietnam
    Kheylo Surgey
    The Kosygin State University of Russia, Russia
    Rakhilin Konstantin
    Bauman Moscow State Technical University, Russia

Từ khóa:

Parallel mechanism
control
inverse problems of dynamics
accuracy
singularity
special position

Tóm tắt

The mechanisms of parallel structure are the subject of many publications due to specific functional properties of these objects, such as load capacity and accuracy This paper offers a solution for the determination of the position and planar parallel two degrees mechanism control. Two problems are solved: the problem of the position of the mechanism and the problem of transition by the executive link of the mechanism through a special position and calculated the motor forces to pass through a special position. There was a proposed and tested control algorithm that offered an example of controlling. The solution for the accuracy position determination for a planar parallel mechanism with two degrees of freedom was offered.

Tài liệu tham khảo

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Jun 30, 2023
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Cách trích dẫn
Tung, V. D., K. Surgey, và R. Konstantin. “Control and Determination of the Kinematic Model Position of Planar Parallel Mechanism”. Tạp Chí Khoa học Và Công nghệ - Đại học Đà Nẵng, vol 21, số p.h 6.1, Tháng Sáu 2023, tr 11-15, doi:10.31130/ud-jst.2023.538E.

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