Research on the Mechanism of Parallel Structure with Circular Guide

Abstract

A new structural diagram of a parallel structure mechanism with a circular guide has been developed, which consists of hybrid and cross−coupling kinematic chains. Hybridity lies in the combination of parallel and sequential kinematic chains. , additionally, the block diagram of the mechanism contains cross-coupling chains between parallel circuits. Compared to known analogs, the mechanism under consideration utilizes an original hinge design, which increases the working area. An algorithm has been developed to solve the problem of the position of the output link of the mechanism and another algorithm to determine the working area. A numerical example of solving the inverse kinematics problem is given.