Abstract

The method of coordination of motions of the modules of a relative manipulation mechanism with three degrees of freedom is proposed. The method is based on using the constraint equations of the modules and the generalized coordinates of the mechanism as a whole. The problems of the construction of joint motion of modules implementing the program motion of the point of the output link of one module in the mobile coordinate system of another module were solved.

中文翻译：

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三自由度相对操纵机构程序运动的构造

摘要

提出了一种具有三个自由度的相对操纵机构的模块运动协调方法。该方法基于使用模块的约束方程式和整个机构的广义坐标。解决了在另一个模块的移动坐标系中实现一个模块的输出链接点的程序运动的模块的联合运动的构造问题。