Application of the correcting drive for generating the manipulators of effector's trajectory
Abstract
The article presents the application of an additional correcting drive in a mechanism (manipulator), which enables shaping effector’s trajectory by fluent modification of the supporting point’s position of a passive module, without the change in speed of the main drive’s angular velocity. The conducted research and computer simulations pertain to a flat mechanism in the form of an articulated quadrilateral. The author shows the application possibilities of the correcting drive in shaping (to a certain extent) arbitrarily given trajectories of manipulator’s effector.
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