Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints
Апстракт
Modelling and analysis of a 2-axis reconfigurable parallel mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations showing the solution of kinematic problems of parallel mechanism applied for any configuration of reconfigurable 2-axis parallel mechanism are realized. Secluded characteristical mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.
Кључне речи:
2-axis reconfigurable wokparallel mechanism / inverse and direct kinematic problem / workspace / singularitiesИзвор:
TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia, 2016, 59-66Издавач:
- Belgrade : Union of Engineers and Technicians of Serbia
Финансирање / пројекти:
- Развој нове генерације домаћих обрадних система (RS-MESTD-Technological Development (TD or TR)-35022)
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Vasilić, Goran AU - Živanović, Saša PY - 2016 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4887 AB - Modelling and analysis of a 2-axis reconfigurable parallel mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations showing the solution of kinematic problems of parallel mechanism applied for any configuration of reconfigurable 2-axis parallel mechanism are realized. Secluded characteristical mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed. PB - Belgrade : Union of Engineers and Technicians of Serbia T2 - TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia T1 - Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints EP - 66 SP - 59 DO - 10.5937/tehnika1601057V ER -
@article{ author = "Vasilić, Goran and Živanović, Saša", year = "2016", abstract = "Modelling and analysis of a 2-axis reconfigurable parallel mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations showing the solution of kinematic problems of parallel mechanism applied for any configuration of reconfigurable 2-axis parallel mechanism are realized. Secluded characteristical mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.", publisher = "Belgrade : Union of Engineers and Technicians of Serbia", journal = "TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia", title = "Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints", pages = "66-59", doi = "10.5937/tehnika1601057V" }
Vasilić, G.,& Živanović, S.. (2016). Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints. in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia Belgrade : Union of Engineers and Technicians of Serbia., 59-66. https://doi.org/10.5937/tehnika1601057V
Vasilić G, Živanović S. Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints. in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia. 2016;:59-66. doi:10.5937/tehnika1601057V .
Vasilić, Goran, Živanović, Saša, "Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints" in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia (2016):59-66, https://doi.org/10.5937/tehnika1601057V . .