G. V. Rashoyan

Bio: G. V. Rashoyan is an academic researcher from Russian Academy of Sciences. The author has contributed to research in topics: Kinematics & Parallel manipulator. The author has an hindex of 5, co-authored 18 publications receiving 69 citations.

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

Abstract: 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.

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

Abstract: 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.

Construction of a working area for the manipulation mechanism of simultaneous relative manipulation

Abstract: Synthesis problems of handling mechanisms of simultaneous relative manipulation have been considered. The direct positional problem for the parallel structure mechanism of simultaneous relative manipulation has been solved. The operating space of the mechanism has been defined.

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

Abstract: 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.

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

Abstract: 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.

Active control of vibration

Abstract: A method of and system for active vibration control in an elongate member such as a pipe (2), wherein an actuator which comprises at least one constrictive element (3) capable of changing its length is attached between flanges (1) spaced along the member and is controlled to produce deformations of the member which inhibit the transmission of unwanted vibration from the member to one side of the attached actuator to the other side.

Material handling devices and controllers

Abstract: A powered material handling apparatus or lift provides for the movement and positioning of large, heavy and/or bulky objects using six degrees of freedom of motion. The lift may be used for the handling of virtually any such materials, but is especially suited for the handling of such objects as jet aircraft engines and aircraft external stores. The lift may be remotely operated by a hand controller which is mechanically arranged in the same manner as that of the lift, through a power supply and servo device. Feedback may be provided to the hand controller by the power supply and servo device, thus enabling the operator of the control to sense the forces occurring at the lift as it is actuated. Additionally, provision is made for the recording of a history of the forces, torques and linear actuation of the struts of the apparatus in the event of some subsequent question regarding a particular operation. Further improvements in such devices include various methods of attachment of the lifting struts to the platforms of the lifting apparatus, as well as several methods of strut actuation and sensing of the linear position of the struts.