Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints
Abstract
This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.
Keywords:
Lambda mechanism / inverse kinematic equations / workspace / CAD/CAMSource:
Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022., 2022, 272-277Publisher:
- Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
Funding / projects:
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200105 (University of Belgrade, Faculty of Mechanical Engineering) (RS-MESTD-inst-2020-200105)
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200066 (Lola Institute, Belgrade) (RS-MESTD-inst-2020-200066)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Nešovanović, Ljubomir AU - Živanović, Saša PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4660 AB - This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates. PB - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet C3 - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. T1 - Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints EP - 277 SP - 272 UR - https://hdl.handle.net/21.15107/rcub_machinery_4660 ER -
@conference{ author = "Nešovanović, Ljubomir and Živanović, Saša", year = "2022", abstract = "This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.", publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet", journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.", title = "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints", pages = "277-272", url = "https://hdl.handle.net/21.15107/rcub_machinery_4660" }
Nešovanović, L.,& Živanović, S.. (2022). Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 272-277. https://hdl.handle.net/21.15107/rcub_machinery_4660
Nešovanović L, Živanović S. Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:272-277. https://hdl.handle.net/21.15107/rcub_machinery_4660 .
Nešovanović, Ljubomir, Živanović, Saša, "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):272-277, https://hdl.handle.net/21.15107/rcub_machinery_4660 .