Abstract
The kinematic screws that determine the topology of singular zones of parallel-structure robots are studied. It has been established that the kinematic screws depend on the actuator mount points.
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Original Russian Text © A.K. Aleshin, V.A. Glazunov, G.V. Rashoyan, Offer Shai, 2016, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2016, No. 4, pp. 3–8.
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Aleshin, A.K., Glazunov, V.A., Rashoyan, G.V. et al. Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots. J. Mach. Manuf. Reliab. 45, 291–296 (2016). https://doi.org/10.3103/S1052618816040026
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DOI: https://doi.org/10.3103/S1052618816040026