Analysis of Spherical Five-bar Hinged Manipulator with Two Degrees of Freedom and Dwells of Output Link
نویسنده
چکیده
ANALYSIS OF SPHERICAL FIVE-BAR HINGED MANIPULATOR WITH TWO DEGREES OF FREEDOM AND DWELLS OF OUTPUT LINK. N. Davitashvili. “Problems of Mechanics”. Tbilisi, 2015, No 1(58), pp. 5-11, (Engl.). Is stated the kinematic study of spherical five-bar manipulator with two degrees of freedom. Are determined the positions, velocities and accelerations of output links, their points and gripper. The manipulator is also considered as a mechanism with one degree of freedom with a long dwell of output link with the identification of the girder’s motion nature on the surface of a sphere. 2 ill. Bibl. 12. Engl.; sum. in Russian.
منابع مشابه
Using the Matrix Method to Compute the Degrees of Freedom of Mechanisms
In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...
متن کاملDynamic Modeling of a Robot Manipulator for Opening the Tap Hole of an Electric Arc Furnace
The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...
متن کاملType Synthesis of Three-Degree-of-Freedom Spherical Parallel Manipulators
A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegree-of-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel m...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملDynamic Behavior Analysis of a Planar Four-bar Linkage with Multiple Clearances Joint
In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...
متن کامل