Analysis of Pressure Angles and Special Positions of Parallel Structure Modules Intended for Mechanisms of Relative Manipulation

摘要

The mechanisms of relative manipulation with determined pressure angles and special positions are considered. The key advantage of relative manipulation devices [1-5] is attributed to the fact that the total number of degrees of freedom of the mechanism is the sum of the degrees of freedom of the modules composing it. In this case, the engines of the modules can be positions at the base, which decreases their interference during motion of the mechanisms. The present work considers a mechanism of relative manipulation consisting of two modules, each being a parallel structure mechanism [6-8] with three degrees of freedom. The pressure angle is used as a factor showing the quality of transmission of motion that best of all reflects the physics of the positions close to special ones [3,4].