nblib.library.kz - /elib/library.kz/jurnal/v_2007_3/

3

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2007. 3

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, U_kV_kW_k U_jV_jW_j

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j

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j

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g

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k (9) -

k (10) ,

g

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1 0 0

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sin cos

,

⁽⁹⁾

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11 12

21 22

31 32

(11)

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5

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33 32

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23 22

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13 12

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u

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21 22

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, (17)

. sin sin

cos cos

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sin cos

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sin cos

sin

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cos cos

cos

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cos

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sin

32 31 22 21 12 11

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k

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h

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k V O V

k

V kl k U kl k V kl k U kl k

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kj

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kj

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l M l M

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6

2007. 3

(13) -

.

(13) (8)

R

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R

R R R

R

R

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kj

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0

M

M

M M

M

kl

M

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k

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0 0

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M

M M P

M M P

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k

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k k

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k j

j j

j

j j

j

j j

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L

l l l l l l l l

jk

k k

k k k

k k k

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11 12

21 22 23

31 32 33

0

H

h h h h h h

jk

k k

k k

k k

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21 22

31 32

0 0 0

Baigunchekov Zh.Zh., Nurakhmetov B.K. and et. ab.

Kinematics of the Parallel Manipulators with Functionally Independent Drives (Part I and II). The XI World IFToMM Congress. 1-4 April, 2004, Tianjin, China. 1647-1656 p.

i -

i ( – , –

i ).

Summary

In the given paper the equilibrium equations of aRC binary link are made.

621.01

*

;

**

3.05.07 .

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