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Chapter and Conference Paper
Structural Synthesis of Spatial l-Coordinate Mechanisms with Additional Links for Technological Robots
The article is devoted to the structural synthesis of mechanisms of parallel structure, belonging to the class l-coordinate mechanisms. Studies of the mechanisms of the parallel structure in connection with their...
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Article
Method for Determination of the Inertia Characteristics of Bodies
A method for determination of the mass, of the coordinates of the center of mass, and of the tensor of body inertia was developed. The peculiarity of this method is that we have set for the body under study th...
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Article
The Direct Position Problem for l-Coordinate Mechanisms of Various Types
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–nu...
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Chapter and Conference Paper
5DOF Mechanism for Vertebral Surgery Kinematic Analysis and Velocity Calculation
The article describes 5DOF mechanism for vertebral surgery. The mechanism is designed as a robot with parallel structure – the working instrument is located on the platform with two orthogonal slides with actu...
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Article
Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure
A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling is considered. The Gosselin and Angel...
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Article
Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments
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 ...
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Article
Analysis of kinematic screws that determine the topology of singular zones of parallel-structure robots
The kinematic screws that determine the topology of singular zones of parallel-structure robots are studied. It has been established that the kinematic screws depend on the actuator mount points.
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Article
Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations
This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and si...
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Article
A method to determine the mass and coordinates of the center of mass of a body in a given plane
This paper proposes a method to determine the mass and coordinates of the center of mass of bodies that do not have sufficient inherent rigidity. During dynamic trials, the objects being tested take on the pro...
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Article
A chronometric method for determining the rotor out-of-balance value and position
We propose a method for determining the out-of-balance value and phase of an unbalanced rigid body rotating about a movable elastically supported axis. The novelty of the method is the source of information. W...
