METHODS OF STRUCTURAL ANALYSIS OF THE MECHANISM OF ROBOTIC AND MECHATRONIC DEVICES

EGOROV Oleg D., Cand. Techn. Sc., Associate Professor of the Department "Robotic and Mechatronics", Moscow State University of Technology "STANKIN", Moscow, Russia, E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

BUYNOV Maxim A., Post-Graduate Student of the Department "Robotic and Mechatronics", Moscow State University of Technology "STANKIN", Moscow, Russia, E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

A new method for the structural analysis of the mechanisms of mechatronic devices and robots. The formulas for the analytical determination of the number of redundant and metric relations of extra mobility and links that occur in the contours of the mechanisms. Given conditional graphics kinematic pairs and degrees of freedom. Showing examples of structural analysis tools and methods for eliminating identified redundant links and extra mobility.

mechanism, structural analysis, redundant links, extra mobility metric connection, mobility, degree of mobility

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