Publication:
Exploring the Workspace of a Robot with Three Degrees of Freedom

Дата
2022
Авторы
Nosova, N. Y.
Misyurin, S. Y.
Journal Title
Journal ISSN
Volume Title
Издатель
Научные группы
Организационные подразделения
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Организационная единица
Институт интеллектуальных кибернетических систем
Цель ИИКС и стратегия развития - это подготовка кадров, способных противостоять современным угрозам и вызовам, обладающих знаниями и компетенциями в области кибернетики, информационной и финансовой безопасности для решения задач разработки базового программного обеспечения, повышения защищенности критически важных информационных систем и противодействия отмыванию денег, полученных преступным путем, и финансированию терроризма.
Выпуск журнала
Аннотация
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.In this paper, we consider the mechanical part of the robot controlled by artificial intelligence according to three independent coordinates. The solution of kinematics problems is considered. The task is set to determine the size and shape of the workspace of the robot mechanical part based on solving the inverse kinematics under given initial conditions. This is important for solving the planning problem, since all the trajectories of the output link with the working tool (end-effector) of the robot must remain within the obtained working area. It is possible to create quite complex mechanisms of both sequential and parallel structures, but if the working area of this mechanism is small, then their scope of application is significantly reduced. Each kinematic chain of the developed mechanism includes spatial four-links (hinged parallelograms). They are a flat mechanism in which the axes of rotation of the kinematic pairs are located in a plane perpendicular to the axes of their rotation, and all the points of the links describe the trajectories of movement in parallel planes. Thus, the spatial four-link mechanism can be used to transmit both translational motions and to transmit rotation to the output link and/or the working tool.
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Цитирование
Nosova, N. Y. Exploring the Workspace of a Robot with Three Degrees of Freedom / Nosova, N.Y., Misyurin, S.Y. // Studies in Computational Intelligence. - 2022. - 1032 SCI. - P. 333-343. - 10.1007/978-3-030-96993-6_37
URI
https://www.doi.org/10.1007/978-3-030-96993-6_37
 https://www.scopus.com/record/display.uri?eid=2-s2.0-85127710495&origin=resultslist
 http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=Alerting&SrcApp=Alerting&DestApp=WOS_CPL&DestLinkType=FullRecord&UT=WOS:000833484200037
 https://openrepository.mephi.ru/handle/123456789/28934
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