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Spherical manipulator with parallel structure

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Abstract

A spherical manipulator with parallel structure is considered. The advantages and disadvantages of its various configurations are assessed. The inverse position problem is solved in general form.

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Authors and Affiliations

  1. Bauman Moscow State Technical University, Moscow, Russia

    P. A. Laryushkin, M. N. Zakharov & K. G. Erastova

  2. Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences, Moscow, Russia

    V. A. Glazunov

Authors
  1. P. A. Laryushkin
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  2. M. N. Zakharov
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  3. K. G. Erastova
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  4. V. A. Glazunov
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Corresponding author

Correspondence to P. A. Laryushkin.

Additional information

Original Russian Text © P.A. Laryushkin, M.N. Zakharov, K.G. Erastova, V.A. Glazunov, 2017, published in Vestnik Mashinostroeniya, 2017, No. 4, pp. 34–36.

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Laryushkin, P.A., Zakharov, M.N., Erastova, K.G. et al. Spherical manipulator with parallel structure. Russ. Engin. Res. 37, 585–588 (2017). https://doi.org/10.3103/S1068798X1707019X

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  • DOI: https://doi.org/10.3103/S1068798X1707019X

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