Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Dexterity Improvement of Pointing Spherical Mechanism by Trajectory Planning

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JQ - Strojní zařízení a nástroje

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

7

Strana od-do

1-7

Název nakladatele

McGill University

Místo vydání

Montreal

Místo konání akce

Montreal

Datum konání akce

29. 5. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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