Work

The Contribution to Calculus of the Mobility (d.o.f.) of Complex Structure Mechanisms / Manipulators

Year: 2025

Type: article

Abstract: The mechanisms / manipulators, with complex structure, have as their component parts two or more closed spatial contours of various ranks, which are connected horizontally or vertically. If the mobility (d.o.f.) of these complex manipulators by the classical formulas is calculated, some difficulties could occur, being connected to the independent loops choosing. The Malyshev - Dobrovolski type formulas are applied, as a rule, only to the mono-contour mechanisms or to those with two or more contours of the same rank. In the present paper, a new formula is deduced for the calculus of mobility of complex structure spatial manipulators - robots by pointing out the rank of each independently loop

Source: DOAJ (DOAJ: Directory of Open Access Journals)

Authors: Ovidiu ANTONESCU, Carmen Elisabeta RADU, Dana VĂLEAU, Păun ANTONESCU

Institution: Universitatea Națională de Știință și Tehnologie Politehnica București

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W7125091543

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