Kinematic analysis of a spatial parallel structure mechanism with a circular guide

Rashoyan, G. V.; Lastochkin, A. B.; Glazunov, Victor

doi:10.3103/s1052618815070122

Cited by 20 publications

(4 citation statements)

References 1 publication

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“…As a rule, the design of energy-efficient mechanisms with parallel kinematics requires additional study to determine their design characteristics in order to provide the given parameters of its working space [5,6,7], to define optimal trajectories, as well as dynamic and inertial characteristics [8,9,10].…”

Section: Introductionmentioning

confidence: 99%

Dynamic model of a robotic platform with 6 degrees of freedom

Khurtasenko

Chuev

Rybak

2022

J. Phys.: Conf. Ser.

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The paper presents the study of kinematic and dynamic characteristics of the robotic mobility platform (RMP) to determine inertia-force parameters depending on the nature of the implemented motion path. The method is implemented on the basis of parameterized digital simulation models with parallel kinematics, which allow determining acceleration and force response in the joints of structural components at given geometric parameters of the platform design.

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Section: Introductionmentioning

confidence: 99%

Dynamic model of a robotic platform with 6 degrees of freedom

Khurtasenko

Chuev

Rybak

2022

J. Phys.: Conf. Ser.

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“…An advanced scheme of the 6-DOF manipulator with a circular guide [7] is presented in [14]. A study of its kinematics and working zone analysis is presented in [15]. A similar manipulator with kinematic chains having different types of joints, including universal joints, is presented in [16].…”

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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“…Such mechanisms have increased performance in terms of carrying capacity, accuracy, and speed of movement of the output link since they perceive the load similarly to spatial trusses [5][6][7]. However, having a wide range of advantages, they have several disadvantages, including a relatively small working area [8][9][10] and the presence of special positions (singularities) [11,12]. Special positions are those positions in which the mobility of the links is lost, which can lead to a loss of the degree of freedom, loss of structural rigidity, uncontrolled movement of both intermediate links, and the output link of the mechanism [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Determination of Special Positions for Solving the Problem of Joint-Relative Manipulation Mechanisms Kinematic Control

Pashchenko

Romanov

Chaikin

et al. 2021

Electromechanics and Robotics

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The article deals with topical issues of solving the problem of analyzing the special provisions of the mechanisms of joint-relative manipulation. The analysis of existing methods and approaches for determining the special provisions of the mechanisms is carried out. The approach based on the search for bifurcation conditions is considered in detail. Within the framework of using this approach, special positions of the planar six-branch mechanism are found through the compilation of coupling equations. The working area of the flat six-shaft mechanism is constructed taking into account the permissible and special provisions. The method of finding the working space of the mechanism of joint-relative manipulation using the iterative method is shown. The working area of the mechanism of joint-relative manipulation is constructed, taking into account the permissible and special provisions. The working area of the mechanisms of joint-relative manipulation is investigated, taking into account special positions, and an approach to solving the problem of forming a program trajectory in the space of generalized coordinates is proposed, taking into account the presence of special positions of the mechanism.

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Kinematic analysis of a spatial parallel structure mechanism with a circular guide

Cited by 20 publications

References 1 publication

Dynamic model of a robotic platform with 6 degrees of freedom

Dynamic model of a robotic platform with 6 degrees of freedom

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

Determination of Special Positions for Solving the Problem of Joint-Relative Manipulation Mechanisms Kinematic Control

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