SpringerLink
Log in

Investigation of Special Positions of the Parallel Mechanism of the Delta Family with Four Degrees of Freedom

  • MECHANICS OF MACHINES
  • Published:
Journal of Machinery Manufacture and Reliability Aims and scope Submit manuscript

Abstract

The results of investigation of two types of special positions of parallel mechanism with four degrees of freedom and four linear drives are presented. To solve the problem, an iterative algorithm is used, which consists in a linear exhaustive search of the points of the working zone of the mechanism and analysis of the behavior of the determinants of the matrices of partial derivatives of the input and output coordinates. The solution of the problem stated is necessary to estimate the dimensions of the effective working zone of the mechanism and is an important stage in its parametric synthesis and design.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.

Similar content being viewed by others

REFERENCES

  1. Glazunov, V.A., Kheylo, S.V., and Tsarkov, A.V., The control complex robotic system on parallel mechanism, in Smart Electromechanical Systems: The Central Nervous System, Gorodetskiy, A.E. and Tarasova, I.L., Eds., Cham: Springer, 2018, p. 137.

    Google Scholar 

  2. Ganiev, R.F., Glazunov, V.A., and Filippov, G.S., Urgent problems of machine science and ways of solving them: wave and additive technologies, the machine tool industry, and robot surgery, J. Mach. Manuf. Reliab., 2018, vol. 47, no. 5, p. 399.

    Article  Google Scholar 

  3. Glazunov, V., Nosova, N., and Ceccarelli, M., Kinematics of a 6 DOFs manipulator with a interchangeable translation and rotation motions, in Recent Advances in Mechanism Design for Robotics, Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, Switzerland: Springer Int., 2015, p. 407.

    Chapter  Google Scholar 

  4. Clavel, R., Device for the movement and positioning of an element in space, US Patent no. 4976582, 1990.

  5. Miller, K., Experimental verification of modeling of delta robot dynamics by direct application of hamilton’s principle, in Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan,1995, p. 532.

  6. Kuleshova, E.M. and Laryushkin, P.A., Kinematics of mechanisms of the delta type with a different number of degrees of freedom, in Mashinovedenie i innovatsii. Konferentsiya molodykh uchenykh i studentov (MIKMUS-2017) (Machine Science and Innovation, Proceedings of the Conference of Young Scientists and Students), 2018, p. 305.

  7. Clavel, R., Conception d’un robot parallèle rapide à 4 degrés de liberté, Ph.D Thesis, Lausanne: École Polytech. Fed. de Lausanne, 1991, p. 133.

  8. Glazunov, V., Nosova, N., and Ceccarelli, M., Kinematics of a 6 DOFs manipulator with a interchangeable translation and rotation motions, in Recent Advances in Mechanism Design for Robotics, Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, Switzerland: Springer Int., 2015, p. 407.

    Chapter  Google Scholar 

  9. Laryushkin, P.A., Erastova, K.G., Filippov, G.S., and Kheilo, S.V., Calculation of delta-type mechanisms with linear actuators and different numbers of degrees of freedom, J. Mach. Manuf. Reliab., 2019, vol. 48, no. 5, pp. 204–210.

    Article  Google Scholar 

  10. Glazunov, V. and Kheylo, S., Dynamics and control of planar, translational and spherical parallel manipulators, in Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, Zhang, D. and Wei, B., Eds., Switzerland: Springer, 2016, p. 365.

    Google Scholar 

  11. Merlet, J.-P., Parallel Robots, 2nd ed., Netherlands: Springer, 2006, p. 402.

    MATH  Google Scholar 

  12. Angeles, J., Singularity analysis of closed-loop kinematic chains, IEEE Trans. Robot. Autom., 1990, vol. 6, no. 3, p. 281.

    Article  Google Scholar 

  13. Aleshin, A.K., Glazunov, V.A., Rashoyan, G.V., and Shai, O., Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots, J. Mach. Manuf. Reliab., 2018, vol. 45, no. 4, p. 291.

    Article  Google Scholar 

  14. Glazunov, V.A., Nosova, N.Yu., Kheylo, S.V., and Tsarkov, A., Design and analysis of the 6-DPF decoupled parallel kinematics mechanism, in Dynamic Decoupling of Robot Manipulators, Arakelian, V.H., Ed., Switzerland: Springer, 2018, Chap. 6, p. 125.

    Google Scholar 

  15. Fomin, A. and Glazunov, V., A novel rotary positioner with single drive: structural analysis and kinematic design, in Advances in Robot Kinematics, Lenarcic, J. and Parenti-Castelli, V., Eds., Switzerland: Springer, 2018, p. 364.

    Google Scholar 

  16. Erastova, K.G. and Laryushkin, P.A., Workspaces of parallel mechanisms and methods of determining their shape and size, Izv. Vyssh. Uchebn. Zaved., Mashinostr., 2017, no. 8, p. 78.

Download references

Funding

This work was carried out within the basic part of state task no. 9.5309.2017/8.9.

Author information

Authors and Affiliations

  1. Bauman Moscow State Technical University, 105005, Moscow, Russia

    P. A. Laryushkin, K. G. Erastova & K. A. Kobylkevich

  2. Blagonravov Research Institute of Mechanical Engineering , Russian Academy of Sciences, 101990, Moscow, Russia

    S. A. Skvortsov

Authors
  1. P. A. Laryushkin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. K. G. Erastova
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. K. A. Kobylkevich
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. S. A. Skvortsov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to S. A. Skvortsov.

Ethics declarations

The authors declare that they have no conflict of interest.

Additional information

Translated by M. Kromin

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Laryushkin, P.A., Erastova, K.G., Kobylkevich, K.A. et al. Investigation of Special Positions of the Parallel Mechanism of the Delta Family with Four Degrees of Freedom. J. Mach. Manuf. Reliab. 48, 503–509 (2019). https://doi.org/10.3103/S1052618819060074

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S1052618819060074

Keywords:

Search

Navigation