Xây dựng bài toán loại trừ dịch chuyển không - điều khiển trong vùng đặc biệt của tay máy song song
Corressponding author's email:
tapchikhgkdt@hcmute.edu.vnKeywords:
tay máy song song, khâu ra (khâu tác động cuối), dịch chuyển không - điều khiểnAbstract
The approach to singularity configurations of the parallel manipulator is represented which supposes to consider the degree of freedom of the final output link and the quan- tity of the kinematic subchains connecting the base and the output link. The theorem of A.P. Kotelnikov is used in order to exclude non-controlled mobility of the output link. How to avoid infinitesimal non-controlled mobility in singularity configurations is considered
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