The aim of this work is an analysis of excess ties in handler closed kinematics and development of the structural synthesis procedure for self-aligning gears of industrial robots with parallel kinematics. The design of a structure flowchart of a gear without excess ties in the procedure offered is carried out by means of prototype mechanism updating and includes the following stages: the reveal and analysis of excess ties, excess ties elimination, correctness checkup of excess ties elimination. For the excess ties analysis and solution check-up a structural analysis is carried out. At that a handler is presented as a hierarchal structure described by some structural models. The ways for excess ties elimination: the substitution of one kinematic pair for another one with a higher number of mobility; the introduction of an additional link and one kinematic pair into a kinematics; the elimination from the kinematics an extra link with two kinematic pairs; the substitution in the kinematics a flat hinge parallelogram for a forward pair. There are developed some versions of structural diagrams of self-aligning handlers on the basis of an ortho- glide gear. The procedure offered allows defining the number and a type of excess ties in the kinematics of a gear, eliminating excess ties and forming structural diagrams of self-aligning gears with the conservation of basic operating properties on the alternative basis. The application of structural diagrams of handlers without contour excess ties is one of the ways to increase reliability and manufacturability of designs of industrial robots with parallel kinematics.

The paper considers an approach to predicting the risks of emergencies in transport and improving its safety. It is shown that the prediction of risks in railway transport is determined by the processes of deformation and destruction at hazardous points of highly loaded zones of critical elements of transport objects. Management of the processes of degradation of transport facilities through the use of diagnostic systems and renovation technologies at all stages of the life cycle ensures an increase in its safety and protection from emergency situations.

Isotropic parallel manipulators are considered. The analysis of the structure and kinematics of the parallel translational directional manipulator Pantopteron is carried out. It was found that the Pantopteron mechanism, in the kinematic chain of which pantographs are included in order to increase the speed, contains redundant links and is statically indeterminate. Structural schemes of statically definable parallel manipulators of the Pantopteron type have been developed and proposed.

СТРУКТУРНЫЙ АНАЛИЗ МЕХАНИЗМОВ РОБОТОВ-СТАНКОВ С ПАРАЛЛЕЛЬНОЙ КИНЕМАТИКОЙВыполнен критический анализ существую-щих методик структурного анализа механизмов параллельной структуры, составляющих основу станков нового поколения с параллельной кинема-тикой. Разработана методика структурного анализа этих механизмов, основанная на декомпозиции ки-нематической цепи механизма с использованием наиболее подходящих структурных моделей. При-ведены примеры применения методики.Ключевые слова: роботы-станки с парал-лельной кинематикой, механизмы параллельной структуры, структурный анализ, структурные мо-дели, декомпозиция системы, композиция системы.A.K. Tolstosheev, V.A. Tatarintsev STRUCTURAL ANALYSIS OF ROBOT MACHINE MECHANISMS WITH PARALLEL KINEMATICS