Journal ArticleDOI
Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments
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TLDR
A parallel structure mechanism with six degrees of freedom designed to operate in extreme environments is considered and a technique for searching for an analytical solution of the inverse kinematics problem and the numerical Solution of the direct kinematic problem for the given mechanism is presented.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.read more
Citations
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Journal ArticleDOI
Position, velocity, and workspace analysis of a novel 6-DOF parallel manipulator with “piercing” rods
Anton Antonov,Victor Glazunov +1 more
TL;DR: The article deals with the research of a novel parallel manipulator with six degrees of freedom and three kinematic chains, and explores the dependence of the workspaces’ shape and volume on the manipulator geometric parameters.
Book ChapterDOI
Structural Synthesis of Spatial l-Coordinate Mechanisms with Additional Links for Technological Robots
TL;DR: The article is devoted to the structural synthesis of mechanisms of parallel structure, belonging to the class l-coordinate mechanisms, which open up prospects for their wider application in technological installations, devices for measurement and testing, additive technologies and manipulators of medical purpose.
Journal ArticleDOI
Analysis and synthesis of parallel structure mechanism without singularities
G. V. Rashoyan,A. K. Aleshin,Anton Antonov,L V Gavrilina,V. A. Glazunov,S. A. Skvortsov,K. A. Shalyukhin +6 more
Book ChapterDOI
Dynamics of a New Parallel Structure Mechanism with Motors Mounted on the Base Outside the Working Area
Anton Antonov,A. K. Aleshin,V. A. Glazunov,G. V. Rashoyan,S. A. Skvortsov,K. A. Shalyukhin,N. N. Kovaleva,Robert Chernetsov +7 more
TL;DR: In this article, a parallel structure mechanism with six degrees of freedom and motors placed on the base outside the working area is presented, and the 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.
Journal ArticleDOI
The Direct Position Problem for l -Coordinate Mechanisms of Various Types
TL;DR: In this article, an algorithm for solving the direct position problem for spatial mechanisms of a parallel structure with six linear drives is presented, where the direct problem is solved analytically or iteratively depending on the structural scheme of the l-coordinate mechanism.
References
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Book
Parallel Robots
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Journal ArticleDOI
Development of mechanisms of parallel structure
Victor Glazunov,A. Yu. Chunichin +1 more
TL;DR: Different mechanisms of parallel structure synthesized and patented by the employees of the A. A. Blagonravov Institute of Machine Science, Russian Academy of Sciences, are considered as mentioned in this paper.
Journal ArticleDOI
Possible applications of mechanisms of parallel structure
TL;DR: In this article, partial kinematic decoupling is performed, and the translational motion along one coordinate is separated from three other motions in the plane, while the rotational motion is not decoupled.
Journal ArticleDOI
Twists of movements of parallel mechanisms inside their singularities
TL;DR: In this paper, the authors considered the twist of movements of parallel mechanisms inside singularities and showed that these twists exist for W-DOF mechanisms and associated them with many examples of twists retaining singularity conditions.