Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One

In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints <em>d</em> = 1 and the mobility number <em>λ</em> = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs...

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Main Authors:	Rasim Alizade, Suleyman Soltanov, Abusalat Hamidov
Format:	Article
Language:	English
Published:	MDPI AG 2021-01-01
Series:	Robotics
Subjects:	mobility number general constraint higher kinematic pairs transformations of kinematic pairs overconstrained robot manipulator
Online Access:	https://www.mdpi.com/2218-6581/10/1/14

id	doaj-4e43cae298d44e9ea5971496730d22c5
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spelling	doaj-4e43cae298d44e9ea5971496730d22c52021-01-12T00:03:22ZengMDPI AGRobotics2218-65812021-01-0110141410.3390/robotics10010014Structural Synthesis of Lower-Class Robot Manipulators with General Constraint OneRasim Alizade0Suleyman Soltanov1Abusalat Hamidov2Theory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, AzerbaijanTheory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, AzerbaijanTheory of Machines and Mechanisms Department, Azerbaijan Technical University, Baku AZ1073, AzerbaijanIn this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints <em>d</em> = 1 and the mobility number <em>λ</em> = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and physical models of overconstrained robot manipulators are presented in the research.https://www.mdpi.com/2218-6581/10/1/14mobility numbergeneral constrainthigher kinematic pairstransformations of kinematic pairsoverconstrained robot manipulator
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Rasim Alizade Suleyman Soltanov Abusalat Hamidov
spellingShingle	Rasim Alizade Suleyman Soltanov Abusalat Hamidov Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One Robotics mobility number general constraint higher kinematic pairs transformations of kinematic pairs overconstrained robot manipulator
author_facet	Rasim Alizade Suleyman Soltanov Abusalat Hamidov
author_sort	Rasim Alizade
title	Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
title_short	Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
title_full	Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
title_fullStr	Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
title_full_unstemmed	Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
title_sort	structural synthesis of lower-class robot manipulators with general constraint one
publisher	MDPI AG
series	Robotics
issn	2218-6581
publishDate	2021-01-01
description	In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints <em>d</em> = 1 and the mobility number <em>λ</em> = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and physical models of overconstrained robot manipulators are presented in the research.
topic	mobility number general constraint higher kinematic pairs transformations of kinematic pairs overconstrained robot manipulator
url	https://www.mdpi.com/2218-6581/10/1/14
work_keys_str_mv	AT rasimalizade structuralsynthesisoflowerclassrobotmanipulatorswithgeneralconstraintone AT suleymansoltanov structuralsynthesisoflowerclassrobotmanipulatorswithgeneralconstraintone AT abusalathamidov structuralsynthesisoflowerclassrobotmanipulatorswithgeneralconstraintone
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Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One

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