 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| E.I. Vorobiev, "Realization of a Given Relative Motion of two Rigid Bodies by a Two-Armed Robot," Mech. Solids. 53 (2), 221-227 (2018) |
| Year |
2018 |
Volume |
53 |
Number |
2 |
Pages |
221-227 |
| DOI |
10.3103/S0025654418020139 |
| Title |
Realization of a Given Relative Motion of two Rigid Bodies by a Two-Armed Robot |
| Author(s) |
E.I. Vorobiev (Blagonravov Institute of Mechanical Engineering of the Russian Academy of Sciences, Malyi Kharitonievskii per. 4, Moscow, 101990 Russia, evgeniv36@mail.ru) |
| Abstract |
The formulation of a new task of realizing a given relative motion of two rigid bodies by means of a robot having two manipulators is given. A method for constructing the movements of two-armed robots is proposed, which consists of solving the direct and inverse problems of manipulator kinematics, taking into account additional conditions for eliminating the dangerous rapprochement of links.
Equations of relationships of parameters of relative motion of the working links of the manipulators are obtained with the relative movements of their adjacent links assumed for control functions. Expressions for control functions of manipulators are obtained for the realization of a given relative motion of the general form of two rigid bodies, and also for plane motion.
Pointing to the possibility of crossing the working links under the action of manipulators in one work area, and obtained the relationships that allow these intersections to be avoided. |
| Keywords |
two-armed robot, relative motion of rigid bodies, control functions, intersection of links |
| References |
| 1. | E. I. Vorobiev, Yu. P. Kozyrev, and V. I. Tsarenko,
Industrial Robots of Modular-Modular Type
(Mashinostroenie, Moscow, 1988)
[in Russian]. |
| 2. | A. F. Krainev and V. A. Glazunov,
"New Mechanisms of Relative Manipulation,"
Probl. Mashinostr. Nadezhn. Mashin
No. 5, 106-117 (1994). |
|
| Received |
29 February 2016 |
| Link to Fulltext |
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