Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints
Апстракт
Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.
Кључне речи:
Workspace / Singularities / Inverse and direct kinematic problem / 3-axis reconfigurable hybrid kinematic mechanismИзвор:
Lecture Notes in Mechanical Engineering, 2017, 429-441Издавач:
- Springer Heidelberg
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Vasilić, Goran AU - Živanović, Saša AU - Kokotović, Branko PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2721 AB - Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed. PB - Springer Heidelberg T2 - Lecture Notes in Mechanical Engineering T1 - Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints EP - 441 SP - 429 DO - 10.1007/978-3-319-56430-2_32 ER -
@article{ author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko", year = "2017", abstract = "Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.", publisher = "Springer Heidelberg", journal = "Lecture Notes in Mechanical Engineering", title = "Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints", pages = "441-429", doi = "10.1007/978-3-319-56430-2_32" }
Vasilić, G., Živanović, S.,& Kokotović, B.. (2017). Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints. in Lecture Notes in Mechanical Engineering Springer Heidelberg., 429-441. https://doi.org/10.1007/978-3-319-56430-2_32
Vasilić G, Živanović S, Kokotović B. Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints. in Lecture Notes in Mechanical Engineering. 2017;:429-441. doi:10.1007/978-3-319-56430-2_32 .
Vasilić, Goran, Živanović, Saša, Kokotović, Branko, "Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints" in Lecture Notes in Mechanical Engineering (2017):429-441, https://doi.org/10.1007/978-3-319-56430-2_32 . .