The paper investigates the structure of the kinetic energy of the manipulator link of a parallel-sequential structure with an additional passive coupling. The computational scheme of the manipulator is a four-mass electromechanical system with four degrees of freedom. A method for calculating the reduced moment of inertia of a manipulator of a parallel-sequential structure with a rotating base is presented. The contribution of each term to the expression of the kinetic energy of the actuator and the rotary base has been researched.
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Жога et al. (2024) studied this question.
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