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Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints

dc.creatorVasilić, Goran
dc.creatorŽivanović, Saša
dc.creatorKokotović, Branko
dc.date.accessioned2022-09-19T18:20:37Z
dc.date.available2022-09-19T18:20:37Z
dc.date.issued2017
dc.identifier.issn2195-4356
dc.identifier.urihttps://machinery.mas.bg.ac.rs/handle/123456789/2721
dc.description.abstractModelling 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.en
dc.publisherSpringer Heidelberg
dc.rightsrestrictedAccess
dc.sourceLecture Notes in Mechanical Engineering
dc.subjectWorkspaceen
dc.subjectSingularitiesen
dc.subjectInverse and direct kinematic problemen
dc.subject3-axis reconfigurable hybrid kinematic mechanismen
dc.titleModelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated jointsen
dc.typearticle
dc.rights.licenseARR
dc.citation.epage441
dc.citation.other: 429-441
dc.citation.rankM14
dc.citation.spage429
dc.identifier.doi10.1007/978-3-319-56430-2_32
dc.identifier.scopus2-s2.0-85019632787
dc.type.versionpublishedVersion


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