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

The article is devoted to the structural synthesis of mechanisms of parallel structure, belonging to the class l-coordinate mechanisms. Studies of the mechanisms of the parallel structure in connection with their wide application are conducted in many countries of the world. The proposed synthesized mechanism structures open up prospects for their wider application, in particular, in technological installations, devices for measurement and testing, additive technologies and manipulators of medical purpose. The introduction of additional intermediate links in the synthesized structural circuits of mechanisms, as well as the removal of drives outside the working space, can significantly expand their functional capabilities. This circumstance serves to develop the theory of synthesis and analysis of mechanisms of parallel structure.

Structural Synthesis of Spatial l-Coordinate Mechanisms with Additional Links for Technological Robots

Analysis and synthesis of parallel structure mechanism without singularities

A parallel structure mechanism with six degrees of freedom and motors placed on the base outside the working area is presented. Structure of such mechanism and its operating principle are considered in detail. Model of the mechanism output link dynamics subject to elastic forces, appearing in its links and acting on the output link, is given and the equations of motion are obtained. Example of motion analysis according to these equations is shown. The obtained results are tested successfully at an experimental setup.

Dynamics of a New Parallel Structure Mechanism with Motors Mounted on the Base Outside the Working Area

In this paper we consider an algorithm for solving the direct position problem for spatial mechanisms of a parallel structure with six linear drives. The direct problem is solved analytically or iteratively–numerically depending on the structural scheme of the l-coordinate mechanism. The analytical solution is based on a mathematical model of a system of three equations of lines passing through a single point. The problem of transitting from the point coordinates of the mechanism output chain to its absolute coordinates is solved. An example of solving the problem is given.

The Direct Position Problem for l -Coordinate Mechanisms of Various Types

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.

M. M. Laktionova

Papers

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