文章基本信息

标题：Parallel Manipulator of a Class RoboMech with Two End-Effectors
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作者：Zhumadil Baigunchekov ; Zhadyra Zhumasheva ; Batyr Naurushev 等
期刊名称：Lecture Notes in Engineering and Computer Science
印刷版ISSN：2078-0958
电子版ISSN：2078-0966
出版年度：2019
卷号：2240
页码：449-454
出版社：Newswood and International Association of Engineers
摘要：In this paper, the methods of structural and parametric synthesis of a RoboMech class parallel manipulator with two end-effectors are presented. This parallel manipulator is formed by connecting the two moving output objects with the fixed base by two passive, one active and two negative closing kinematic chains. Geometrical parameters of the active and negative closing kinematic chains are determined by the Chebyshev and least-square approximations.
关键词：Parallel manipulator; end-effector; structuralparametric; synthesis.