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Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F16%3A00311108" target="_blank" >RIV/68407700:21220/16:00311108 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

  • Original language description

    The paper deals with the development of pointing spherical mechanisms based on parallel kinematical mechanisms (PKM) for machining operations in 5 DOFs.The specification for such development is that the new pointing spherical mechanisms based on PKM should achieve the orientation capability 360 degrees in azimuth and 200 (+/- 100) degrees in elevation similarly as the traditional pointing mechanisms based on serial kinematical structures. Firstly, an overview of several newly developed pointing mechanisms with such capability is described. Secondly, the new way how to improve the dexterity of pointing spherical mechanism with such very large workspace of orientation just by the different trajectory planning is described. The solution is based on the usage of the extra DOF in a 3-DOFs spherical mechanism to maximize the mechanism dexterity.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JQ - Machinery and tools

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Others

  • Publication year

    2016

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Proceedings of 4th Joint International Conference on Multibody System Dynamics

  • ISBN

    978-0-9682827-9-3

  • ISSN

  • e-ISSN

  • Number of pages

    7

  • Pages from-to

    1-7

  • Publisher name

    McGill University

  • Place of publication

    Montreal

  • Event location

    Montreal

  • Event date

    May 29, 2016

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article