Parallel Manipulator of a Class RoboMech

A robomech class parallel manipulator with three degrees of freedom

“…Parallel manipulators, i. e. manipulators with closed kinematic chains, which possess the property of manipulating robots as the manipulation of moving output objects in accordance with their laws of movements and possess the property of mechanisms as setting the laws of movements of actuators, are called parallel manipulators of a RoboMech class [1][2][3]. In simultaneously setting the laws of movement of end-effectors and actuators, parallel manipulators of a RoboMech class work under certain structural schemes and geometric parameters of the links.…”

“…According to the developed principle of the formation of mechanisms and manipulators [1], this parallel manipulator is formed by connecting the output object (point P) to the base using three closing kinematic chains (CKC): one passive ABP and two active CDE and FGH in the following sequence: firstly, the point P is connected to the base using the passive СKC АВР, reaching all the specified positions of the point P along the OX and OY axes, then we connect the active CKC CDE whose active kinematic pair C reproduces the coordinates Y Pj along the vertical lines, lastly, we connect the next active CKC FGH, whose active kinematic pair F reproduces the coordinates X Pi along the horizontal lines. The rotation on the angle θ k is carried out by rotating the entire manipulator around the axis OY.…”

“…Consequently, in the direct kinematics, the position analysis of the group II (6,4) is first solved, then of the group II (1,2). To solve the position analysis of the group II (6,4), we derive a GHD vector loop-closure equation…”

Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

“…The ability to set the laws of motions of the input links improves the dynamic parameters and simplifies the control system and therefore also increases the reliability and reduces the cost of the designed manipulator. Such parallel manipulators, having the property of manipulation robots, such as reproducing the given laws of motions of end-effectors, and the property of mechanisms, such as setting the laws of motions of actuators, are called the RoboMech class parallel mechanisms or paralell manipulators (PMs) [7].…”

Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

“…This PM with two end effectors replaces two industrial serial robots in the existing production line of cold stamping and it belongs to the RoboMech class PM. The PM, simultaneously setting the laws of motions of the end effectors and actuators, is called the RoboMech class PM [1]. Setting the laws of motion of the actuators monotonously and uniformly but not defining by solving the inverse kinematics problem simplifies the control system and improves dynamics.…”