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Design and Analysis of the 6-DOF Decoupled Parallel Kinematics Mechanism

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Dynamic Decoupling of Robot Manipulators

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 56))

Abstract

Parallel mechanisms (PMs) with six degree of freedoms (DOF) are widely used in such different segments of industry as a measuring, tooling, and positioning device. The spatial 6-DOF mechanism is examined in this chapter. The mechanism studied has both kinematic and dynamic decoupling. The kinematic problem solution is presented. The control algorithm of handling PMs was tested on the basis of nonlinear systems control theory. The velocity and control problems were solved with the use of dynamic and kinematic decoupling.

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References

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Author information

Authors and Affiliations

  1. The Blagonravov Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, Russia

    Victor Glazunov & Natalya Nosova

  2. The Kosygin State University of Russia, Moscow, Russia

    Sergey Kheylo

  3. Bauman Moscow State Technical University, Kaluga Branch, Russia

    Andrey Tsarkov

Authors
  1. Victor Glazunov
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  2. Natalya Nosova
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  3. Sergey Kheylo
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  4. Andrey Tsarkov
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Corresponding author

Correspondence to Sergey Kheylo .

Editor information

Editors and Affiliations

  1. Génie Mécanique et Automatique, Institut National des Sciences Appliquées, Rennes, France

    Vigen Arakelian

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Glazunov, V., Nosova, N., Kheylo, S., Tsarkov, A. (2018). Design and Analysis of the 6-DOF Decoupled Parallel Kinematics Mechanism. In: Arakelian, V. (eds) Dynamic Decoupling of Robot Manipulators. Mechanisms and Machine Science, vol 56. Springer, Cham. https://doi.org/10.1007/978-3-319-74363-9_6

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  • DOI: https://doi.org/10.1007/978-3-319-74363-9_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-74362-2

  • Online ISBN: 978-3-319-74363-9

  • eBook Packages: EngineeringEngineering (R0)

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