Approaches to the Determination of the Working Area of Parallel Robots and the Analysis of Their Geometric Characteristics

Dmitry MALYSHEV, Mikhail POSYPKIN, Larisa RYBAK & Alexander USOV
The article presents and experimentally confirms two approaches to the problem of determining the working area of parallel robots using the example of a planar robot DexTAR with two degrees of freedom. The proposed approaches are based on the use of constraint equations of coordinates. In the first approach, the original kinematic equations of coordinates in the six-dimensional space (two coordinates describing the position of the output link and four coordinates – the rotation angles...
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