Abstract
In this paper the methods of structural and dimensional synthesis of Cartesian manipulators of a class RoboMech reproducing the series of orthogonal trajectories are developed. The Cartesian manipulator of a class RoboMech is formed by connecting the output point to the base by three closing kinematic chains: one passive and two active ones. Parameters of synthesis of active closing kinematic chains are determined on the basis of the formulated problem of least-square approximation.
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Baigunchekov, Z., Ibrayev, S., Izmambetov, M., Baigunchekov, T., Naurushev, B., Mustafa, A. (2019). Synthesis of Cartesian Manipulator of a Class RoboMech. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_9
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DOI: https://doi.org/10.1007/978-3-030-00365-4_9
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