Planning the trajectory of manipulator gripper with a parallel structure and flexible links
Traditionally, the tasks of the objects transportation in working space are solved using manipulation robots with a sequential kinematic structure. However, the increasing requirements for the mechanical rigidity, load-carrying capacity, mass-size and speed parameters caused the need to develop a ne...
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2017-01-01
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Series: | MATEC Web of Conferences |
Online Access: | https://doi.org/10.1051/matecconf/201713205003 |
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doaj-c671dac635ac45908e42505424269bd52021-02-02T00:19:32ZengEDP SciencesMATEC Web of Conferences2261-236X2017-01-011320500310.1051/matecconf/201713205003matecconf_dts2017_05003Planning the trajectory of manipulator gripper with a parallel structure and flexible linksDubovskov VadimValyukevich YuriyTraditionally, the tasks of the objects transportation in working space are solved using manipulation robots with a sequential kinematic structure. However, the increasing requirements for the mechanical rigidity, load-carrying capacity, mass-size and speed parameters caused the need to develop a new classes of manipulation robots with a parallel connecting circuit. The closed kinematic scheme of such manipulators provides a more higher rigidity of the entire structure. The reduced mass of moving parts reduces the load on electric drives and thus provides an increase in manipulator gripper dynamics and the accuracy of positioning. Finally, the energy efficiency of the process increases. The problems of planning the trajectory of manipulator gripper with a parallel structure and flexible links are considered within the paper.https://doi.org/10.1051/matecconf/201713205003 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Dubovskov Vadim Valyukevich Yuriy |
spellingShingle |
Dubovskov Vadim Valyukevich Yuriy Planning the trajectory of manipulator gripper with a parallel structure and flexible links MATEC Web of Conferences |
author_facet |
Dubovskov Vadim Valyukevich Yuriy |
author_sort |
Dubovskov Vadim |
title |
Planning the trajectory of manipulator gripper with a parallel structure and flexible links |
title_short |
Planning the trajectory of manipulator gripper with a parallel structure and flexible links |
title_full |
Planning the trajectory of manipulator gripper with a parallel structure and flexible links |
title_fullStr |
Planning the trajectory of manipulator gripper with a parallel structure and flexible links |
title_full_unstemmed |
Planning the trajectory of manipulator gripper with a parallel structure and flexible links |
title_sort |
planning the trajectory of manipulator gripper with a parallel structure and flexible links |
publisher |
EDP Sciences |
series |
MATEC Web of Conferences |
issn |
2261-236X |
publishDate |
2017-01-01 |
description |
Traditionally, the tasks of the objects transportation in working space are solved using manipulation robots with a sequential kinematic structure. However, the increasing requirements for the mechanical rigidity, load-carrying capacity, mass-size and speed parameters caused the need to develop a new classes of manipulation robots with a parallel connecting circuit. The closed kinematic scheme of such manipulators provides a more higher rigidity of the entire structure. The reduced mass of moving parts reduces the load on electric drives and thus provides an increase in manipulator gripper dynamics and the accuracy of positioning. Finally, the energy efficiency of the process increases. The problems of planning the trajectory of manipulator gripper with a parallel structure and flexible links are considered within the paper. |
url |
https://doi.org/10.1051/matecconf/201713205003 |
work_keys_str_mv |
AT dubovskovvadim planningthetrajectoryofmanipulatorgripperwithaparallelstructureandflexiblelinks AT valyukevichyuriy planningthetrajectoryofmanipulatorgripperwithaparallelstructureandflexiblelinks |
_version_ |
1724314093229178880 |