Inverse Kinematics of a Kinematically Redundant Hybrid Parallel Mechanism
Inverse kinematics of a kinematically redundant six-motion hybrid parallel mechanism with structure 3-(3-PRR)PS is considered. Each kinematic chain of the mechanism includes a plane 3-PRR parallel mechanism. An analytical solution of the problem is obtained; and a sample calculation is presented.
Authors
- P. A. Laryushkin (ORCID: https://orcid.org/0000-0002-9992-1808)
- A. V. Semenov
- M. N. Zakharov (ORCID: https://orcid.org/0000-0001-9751-5382)
Institutions
- Bauman Moscow State Technical University (RU)
- Mechanical Engineering Research Institute of the Russian Academy of Sciences (RU)
Publication Details
- Journal
- Russian Engineering Research
- Published
- 2024-11-01
- DOI
- https://doi.org/10.3103/s1068798x24702873
- Primary Topic
- Robotic Mechanisms and Dynamics
- Type
- article
- Field-Weighted Citation Impact
- 0.00