Position, velocity, and workspace analysis of a novel 6-DOF parallel manipulator with “piercing” rods

A novel criterion for singularity analysis of parallel mechanisms

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

The proposed research presents a novel kinematic design of rotary hexapod actuated by single drive. The developed mechanism has been designed as a combination of spatial kinematic chain 6SS and planar gear lever linkage set inside of a circular guide and serves as a movable base for hexapod’s legs. The planar mechanism includes six kinematic chains ending with carriages that set under each leg of spatial 6SS chain. Motions of the hexapod’s platform are predefined and controlled by single rotational drive set in the center of a circular guide that is mounted on a fixed link. Novel design of the proposed rotary hexapod allows changing trajectories of its platform by variation of only one link length in each kinematic chain of the movable base. The hexapod can be used as a system for spatial orientation of various objects, applied in car or airplane simulators as well as in rehabilitation equipment that requires cyclic movements of an end-effector.

Development of a Novel Rotary Hexapod with Single Drive

This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are presented. An example of calculation of the working space, as well as the solutions of inverse problem on speeds (using theory of screws) for the mechanism with four degrees of freedom, are presented.

Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

The kinematic screws that determine the topology of singular zones of parallel-structure robots are studied. It has been established that the kinematic screws depend on the actuator mount points.

Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots

This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and six kinematic chains that move along a circular guide (rotopod). The solution of these subproblems is necessary for analyzing the topological features of the parallel robot and employing the results of such analysis in control algorithms design.

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

A parallel structure mechanism with six degrees of freedom designed to operate in extreme environments is considered. A technique for searching for an analytical solution of the inverse kinematics problem and the numerical solution of the direct kinematics problem for the given mechanism is presented. Examples of these problems solutions are considered. The operating area of the mechanism is defined. The obtained results are tested successfully at a test facility.

Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments

A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling is considered. The Gosselin and Angeles method of partial derivatives and the apparatus of the theory of screws is used.

A. K. Aleshin

Papers

Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots

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

Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments

Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure

Velocity analysis of a spherical parallel robot