Kinematická analýza paralelných mechanizmov pomocou Screw theory

dc.contributor.authorMichalková, Mária
dc.contributor.authorGuldan, Vladimír
dc.date.accessioned2024-06-26T16:01:30Z
dc.date.available2024-06-26T16:01:30Z
dc.date.issued2024
dc.description.abstractThe aim of this paper is to summarise the mathematical basics of the Screw theory and its application in mechanics. The paper provides methodology for finding the degrees of freedom of the effector, as well as for determining its mobility. Furthermore, we give an input-output equation for velocities for the parallel mechanism, that allows to obtain the velocities of the effector and also of the actuated kinematic couples. These algorithms are applied to a planar parallel 3-RTR mechanism where we determine the degrees of freedom and mobility of the moving platform. We determine the input-output equation for velocities, and based on this we investigate the singularities of the moving platform.en_US
dc.identifier.doihttps://doi.org/10.26552/tech.C.2024.2.8
dc.identifier.issn1337-8996
dc.identifier.urihttp://drepo.uniza.sk/xmlui/handle/hdluniza/1098
dc.language.isosken_US
dc.publisherUniversity of Žilinaen_US
dc.subjectmobility of mechanismen_US
dc.subjectdifferential kinematicsen_US
dc.subjectsingularitiesen_US
dc.subjectplanar parallel manipulatoren_US
dc.titleKinematická analýza paralelných mechanizmov pomocou Screw theoryen_US
dc.title.alternativeKinematic analysis of parallel mechanisms using Screw theoryen_US
dc.typeArticleen_US

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