Vector method for kinetostatic analysis of planar linkages

Jomartov, Assylbek; Tuleshov, Amandyk

doi:10.1007/s40430-018-1022-y

Cited by 17 publications

(10 citation statements)

References 16 publications

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“…The vector method for solving an important problem related to the dynamic analysis of mechanisms, called kinetostatic analysis, was considered. 40 Using this method, the external force, mass, and inertia effect during the movement of the mechanism can be balanced by the reaction forces. Kinetostatic analysis is practically significant when selecting electric motors and calculating kinematic pairs’ bearings.…”

Section: Kinetostatic Analysis Of Stephenson II Six-bar Linkagementioning

confidence: 99%

Kinetostatic analysis, manufacturing, and experimental application of a press machine based on Stephenson II mechanism

Jomartov¹,

Halicioglu²,

Kuatova

2021

Proceedings of the Institution of Mechanical Engineers, Part B:

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Press machine tools are often used in important industrial establishments, such as automobiles, aerospace, and aviation; these machine tools must be produced with high precision. Therefore, studies related to improving press tools and enhancing their precision are being conducted. In this study, a press machine tool based on the Stephenson II mechanism is proposed. Compared to that of conventional crank presses, this mechanism increases the slider balance using a ternary link and unique connecting rods. Thus, the slider precision can be improved with a small addition to the mechanism, and load transmission can be ensured in a balanced manner. To test the contribution of the mechanism, dynamic analysis is performed using the kinetostatic method, and the dynamic data of the mechanism are obtained. Subsequently, a press machine prototype is designed and manufactured. The experimental results are verified against the theoretical results, confirming that the proposed press machine tool based on the Stephenson II mechanism has better characteristics than those of the conventional press machine owing to the favorable distribution of forces on the slide and lower reaction to the slide guides.

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Section: Kinetostatic Analysis Of Stephenson II Six-bar Linkagementioning

confidence: 99%

Kinetostatic analysis, manufacturing, and experimental application of a press machine based on Stephenson II mechanism

Jomartov¹,

Halicioglu²,

Kuatova

2021

Proceedings of the Institution of Mechanical Engineers, Part B:

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“…Kinematics analysis aims to achieve the mapping of the robot from joint space to pose space, and then obtain its workspace 12 . Currently, there are many methods for kinematic modeling, including space vector polygon method, quaternion method, homogeneous coordinate representation method, D-H parameter method, and screw theory 13 . Among them, describing the kinematics of the robot arm using screw theory has the advantages of beautiful form and clear physical meaning.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and spatial structure analysis of TBM gunite robot based on D-H parameter method

Jia,

Liu,

Cao

et al. 2024

Preprint

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In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic performance of the mechanism, this paper studies the forward and inverse kinematics and spatial architecture of the TBM shotcrete robot. Firstly, based on the D-H parameter method, the number of joints and links is determined and structural analysis is performed to obtain the robot's forward kinematics equation, achieving the mapping between joint space and pose space. Then, by determining the joint variables, the mapping of the end tool in Cartesian space is achieved. Finally, based on the Monte Carlo random sampling method, the workspace of the robot is constructed, and its reachability and flexibility within the robot workspace are evaluated. The performance of the device is verified by building a prototype, which meets the requirements well. Through the research in this paper, it can provide theoretical basis and guidance for the design and control of the shotcrete robot.

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“…Jomartov A., Tuleshov A. [6] proposed to develop a vector method for determining reactions in kinematic pairs, as well as the balancing moment, which significantly simplified the problem of kinetostatic analysis of complex bonds. He proposed to implement algorithms on a computer using the analytical computing package of the Maple program.as a result, the results of solving the problem of kinetostatic analysis were finally obtained in vector form.…”

Section: Introductionmentioning

confidence: 99%

Effective Solution of the Problem of Direct Kinematics for Drilling Robot-Manipulator With Four Degrees of Freedom in the Maple Program

Adilkhan

2023

JMMCS

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Today, construction machines are widely used, which can be used in hazardous and toxic working environments, in other adverse environments, and in places where it is very difficult for a human operator to control the machine. At the same time, in the current difficult economic situation, it is important to increase the productivity of these construction machines in the mining, construction, and manufacturing sectors. Due to the versatility and convenience of hydraulically driven manipulators among construction machines, they occupy the majority of equipment used in mining or construction work. Vibration machines are used in many technological processes for the removal of hard rocks and other materials in the work performed by hydraulic excavators. This paper considers a hydraulically driven drilling robot with four degrees of freedom. These are machines and equipment based on lever mechanisms of variable structures, which have a number of advantages over analogs. The use of mechanisms of variable structures significantly increases the reliability of vibration shocks, their design is simple and does not require imported materials and components. This is especially important for machines operating in difficult mountain conditions. Under the above operating conditions, semi-automatic or fully computer-controlled machines can work successfully and efficiently. To do this, it is important to understand the kinematics of this machine. therefore, the article describes the sequence of actions required to solve the direct problem of kinematics directed at a drilling robot with four degrees of freedom.

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Vector method for kinetostatic analysis of planar linkages

Cited by 17 publications

References 16 publications

Kinetostatic analysis, manufacturing, and experimental application of a press machine based on Stephenson II mechanism

Kinetostatic analysis, manufacturing, and experimental application of a press machine based on Stephenson II mechanism

Kinematics and spatial structure analysis of TBM gunite robot based on D-H parameter method

Effective Solution of the Problem of Direct Kinematics for Drilling Robot-Manipulator With Four Degrees of Freedom in the Maple Program

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