MATEC Web Conf.
Volume 132, 2017XIII International Scientific-Technical Conference “Dynamic of Technical Systems” (DTS-2017)
|Number of page(s)||4|
|Section||Cognitive methods of heterogeneous data analysis|
|Published online||31 October 2017|
Planning the trajectory of manipulator gripper with a parallel structure and flexible links
Don State Technical University, 344000 Rostov-on-Don, Russia
* Corresponding author: email@example.com
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.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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