Synthesis of Cartesian Manipulator of a Class RoboMech

Baigunchekov, Zhumadil; Ibrayev, Sayat; Izmambetov, M.; Baigunchekov, T.; Naurushev, Batyr; Mustafa, Azamat

doi:10.1007/978-3-030-00365-4_9

Cited by 6 publications

(3 citation statements)

References 5 publications

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“…In this paper, structural-parametric synthesis and kinematic analysis of the Ro-boMech class PM with two sliders is carried out on the base of modular approach, according to which, by the given laws of motions of the input and output links, the structural scheme and geometric parameters of links are determined from the separate simple structural modules [45]. The considered PM is formed by connecting two sliders using one passive and one negative closing kinematic chain (structural (modules) having zero and negative DOF, respectively.…”

Section: Structural Scheme Of a Cold Stamping Technological Linementioning

confidence: 99%

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

et al. 2021

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This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outlines a possible application of the proposed approach to design a PM for a cold stamping technological line. The proposed PM is formed by connecting two sliders (input and output objects) using one passive and one negative closing kinematic chain (CKC). The passive CKC does not impose a geometric constraint on the movements of the sliders and the geometric parameters of its links are varied to satisfy the geometric constraint of the negative CKC. The negative CKC imposes one geometric constraint on the movements of the sliders and its geometric parameters are determined on the basis of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the considered PM are solved to demonstrate the feasibility and effectiveness of the proposed formulations and case of study.

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Section: Structural Scheme Of a Cold Stamping Technological Linementioning

confidence: 99%

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

et al. 2021

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“…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.…”

Section: у данIй роботI викладенI методи структурно-параметричного сиmentioning

confidence: 99%

“…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…”

Section: Direct Kinematicsmentioning

confidence: 99%