Author:
Kheylo S. V.,Ryabov V. A.,Rashoyan G. V.,Khoruzhev N. A.
Abstract
In this article, the mechanism of a parallel structure with six degrees of freedom with a circular guide and consisting of three kinematic chains is investigated. The paper considers the problem of structural synthesis, solves the problem of kinematic analysis, and proposes an algorithm for determining and studying the working area. The working area of the mechanism is six-dimensional and difficult to visualize. As an alternative to the wellknown approaches to solving this problem, a technique for numerical scanning over discrete grid points is proposed. Grid dimensions are assigned at the initial design stage and can be adjusted depending on the problem statement, while at each grid point three absolute angular coordinates are scanned with a certain step.
Publisher
Izdatel'skii dom Spektr, LLC
Reference12 articles.
1. Alizade R. I. and Tagiyev N. R. (1994). A Forward and Reverse Displacement Analysis of a 6-d of In-Parallel Manipulator. Mechanism and Machine Theory, 29(1), pp. 115 – 124.
2. Kong X., Gosselin C. (2007). Type Synthesis of Parallel Mechanisms. Springer.
3. Byushgens A. G., Glazunov V. A., Zaychik L. E., Skvortsov S. A. (2014). Type analysis of parallel structure mechanisms with circle rail and six degrees of freedom. Spravochnik. Inzhenerniy zhurnal s prilozheniem, (2), pp. 13 – 19. [in Russian language] DOI: 10.14489/hb.2014.02.pp.013-018
4. Glazunov V. A., Lastochkin A. B., Rashoyan G. V., Skvortsov S. A., Shevchenko E. F. (2015). Spatial mechanism with six degrees of freedom. Ru Patent No. 160612. Russian Federation. [in Russian language]
5. Heylo S. V., Glazunov V. A., Lopatin A. Yu., Poletika A. K. (2021). Spatial mechanism with six degrees of freedom. Utility model patent No. 206694 U1. [in Russian language]