Abstract
This article considers the five-link spatial mechanism of manipulating robot with revolute and prismatic kinematic pairs. It is shown that making geometric analysis using classical methods is not rational. This article presents a numerical method of geometric analysis, kinematic and dynamic calculations of a mechanism.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ceccarelli, M.: The Challenges for Machine and Mechanism Design at the Beginning of the Third Millennium as Viewed from the Past. In: Proceedings of Brazilian Congress on Mechanical Engineering COBEM 2001, Uberlandia, Invited Lecture, pp. 132–151 (2001)
Deakin, I.: The method of interior points in the linear and nonlinear programming, 120 p. KRASAND, Moscow (2010) (in Russian)
Evgrafov, A., Kolovsky, M., Petrov, G.: Theory of Mechanisms and Machines, 248 p. Publishing House of SPbSPU, St. Petersburg (2009) (in Russian)
Hartenberg, R.S., Denavit, J.: Kinematic synthesis of linkages. McGraw-Hill series in mechanical engineering, 435 p. McGraw-Hill, New York (1965)
Recktenwald, G.W.: Introduction to Numerical Methods and MATLAB: Implementations and Applications. Prentice Hall (2001) ISBN: 0201308606
Kolovsky, M.Z., Evgrafov, A.N., Semenov, Y.A., Slousch, A.V.: Advanced Theory of Mechanisms and Machines, 396 p. Springer (2000)
Chapman, S.J.: MATLAB (r) Programming for Engineers. Brooks / Cole Pub. Co. (1999) ISBN: 0534951511
Petuya, V., Alonso, A., Pinto, C., Altuzarra, O., Hernandez, A.: A new general-purpose method to solve the forward position problem in parallel manipulators. Advances Robotics 22, 395–409 (2008)
Solomentsev, Y., Zhukov, K., Pavlov, Y., et al.: Industrial robots in machine engineering: Album of plans and designs, Moscow, 140 p. (1986) (in Russian), Edited by Solomentsev, Y.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer Science+Business Media Dordrecht
About this paper
Cite this paper
Evgrafov, A., Kornishov, A. (2014). Geometric, Kinematic and Dynamic Analysis of Four Degrees of Freedom Manipulating Robot, Using Methods of Nonlinear Programming. In: Petuya, V., Pinto, C., Lovasz, EC. (eds) New Advances in Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7485-8_41
Download citation
DOI: https://doi.org/10.1007/978-94-007-7485-8_41
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-7484-1
Online ISBN: 978-94-007-7485-8
eBook Packages: EngineeringEngineering (R0)