Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations

Алешин, А. К.; Glazunov, Victor; Shai, Offer; Rashoyan, G. V.; Скворцов, С. А.; Lastochkin, A. B.

doi:10.3103/s1052618816050034

Cited by 11 publications

(2 citation statements)

References 8 publications

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“…where To solve the problem of velocities, the method of differentiation of constraint equations is used [10,11]. The essence of the method is as follows.…”

Section: Inverse Kinematics Problemmentioning

confidence: 99%

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Глазунов

Филиппов

Rashoyan

et al. 2021

Electromechanics and Robotics

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The subject of article is the kinematic and dynamic analysis of the parallelsequential structure spatial mechanisms. The synthesis of a parallel-sequential structure mechanism for extended objects processing with kinematic chains made according to the l-coordinate scheme was carried out. Its analysis has been carried out. Kinematic and dynamic models of this mechanism have been developed. Mathematical models have been developed to study the kinematics and dynamics of a mechanism with an extended working area. The solution of the inverse problem on positions for this mechanism is given. This solution uses the classic coordinate transformation method. The final system of the constraints equations is obtained. The description of the methodology for solving the problem of velocities, which consists in differentiating the constraints equations (the Angeles-Gosselin method), is given. A system of implicit functions is presented. The solution of the problem of dynamics for a partial planar parallel structure mechanism with three kinematic chains is described. This solution was carried out using a control law that minimizes errors in speed, position, and acceleration. The mutual influence of drive motors on each other, as well as on the law of the executive link motion, is investigated. Fullscale and numerical experiments have been carried out on the developed models, and their results are presented. In a numerical experiment, a situation was simulated in which movement along one coordinate occurs according to a harmonic law, and no movement along the rest.

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“…where To solve the problem of velocities, the method of differentiation of constraint equations is used [10,11]. The essence of the method is as follows.…”

Section: Inverse Kinematics Problemmentioning

confidence: 99%

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Глазунов

Филиппов

Rashoyan

et al. 2021

Electromechanics and Robotics

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“…Herein parallel manipulators equipped with a circular guide are quite promising for practical application. Their kinematic chains are supported by movable carriages, which allow chains to switch the position of the end-effector relative to a fixed link designed as a circular guide [5,6].…”

Section: Introductionmentioning

confidence: 99%

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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The Design of a New Rotary Hexapod with a Single Active Degree of Freedom

Fomin

Glazunov

Didenko

et al. 2019

Robotics and Mechatronics

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Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations

Cited by 11 publications

References 8 publications

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

The Design of a New Rotary Hexapod with a Single Active Degree of Freedom

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