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

  • MECHANICS OF MACHINES
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Abstract

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.

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Funding

This work was supported by the Russian Foundation for Basic Research, project no. 16-29-04273ofi_m.

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Authors and Affiliations

  1. Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences, 119334, Moscow, Russia

    G. V. Rashoyan, S. M. Demidov, A. K. Aleshin, A. V. Antonov, S. A. Skvortsov & K. A. Shalyukhin

Authors
  1. G. V. Rashoyan
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  2. S. M. Demidov
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  3. A. K. Aleshin
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  4. A. V. Antonov
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  5. S. A. Skvortsov
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  6. K. A. Shalyukhin
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Corresponding author

Correspondence to S. M. Demidov.

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Authors declare no conflict of interest.

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Translated by A. Ivanov

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Rashoyan, G.V., Demidov, S.M., Aleshin, A.K. et al. The Direct Position Problem for l-Coordinate Mechanisms of Various Types. J. Mach. Manuf. Reliab. 48, 392–400 (2019). https://doi.org/10.3103/S1052618819050091

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  • DOI: https://doi.org/10.3103/S1052618819050091

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