Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

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
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DOI - Digital Object Identifier
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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
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 4th Joint International Conference on Multibody System Dynamics
ISBN
978-0-9682827-9-3
ISSN
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e-ISSN
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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
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