Parallel Robots with a Circular Guide: Systematic Review of Kinematic Schemes and Methods of Synthesis and Analysis
С. В. Киселев, A. V. Antonov, Alexey Fomin
Abstract
The article reviews various designs of parallel robots with a circular guide, which provide the output link with an unlimited rotation around one of the axes. The paper considers familiar methods and algorithms for type and dimensional synthesis and mobility analysis, singularity determination, and workspace construction for such robots. The performed study presents the current state of the problems mentioned above and shows the directions for future research in this field.
Topics & Concepts
WorkspaceKinematicsRotation (mathematics)RobotSingularityGravitational singularityComputer scienceField (mathematics)Screw theoryLink (geometry)Parallel manipulatorState (computer science)Topology (electrical circuits)EngineeringAlgorithmMathematicsArtificial intelligenceGeometryMathematical analysisPure mathematicsPhysicsClassical mechanicsElectrical engineeringComputer networkRobotic Mechanisms and DynamicsAdvanced Theoretical and Applied Studies in Material Sciences and GeometryManufacturing Process and Optimization