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Effective Workspaces of Parallel Robots with Step Motors

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Abstract

Problems arising in the operation of parallel mechanisms close to singularities of the first kind are investigated. An approach permitting the identification of their effective workspaces (in terms of the velocity) is proposed. This approach is experimentally tested by means of a model of a five-bar robot.

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Authors and Affiliations

  1. Bauman Moscow State Technical University, Moscow, Russia

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

Authors
  1. M. N. Zakharov
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  2. M. S. Kuts
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  3. P. A. Laryushkin
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  4. K. G. Erastova
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Correspondence to M. N. Zakharov.

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Translated by B. Gilbert

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Zakharov, M.N., Kuts, M.S., Laryushkin, P.A. et al. Effective Workspaces of Parallel Robots with Step Motors. Russ. Engin. Res. 42, 218–222 (2022). https://doi.org/10.3103/S1068798X22030285

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  • DOI: https://doi.org/10.3103/S1068798X22030285

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