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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
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
On the features of applying the theory of screws to the evaluation of proximity to specific positions of the mechanisms of parallel structure
The article is devoted to the features of applying the velocity and force criteria of proximity to specific positions to the mechanisms of parallel structure with a fewer than six degrees of freedom. Problems ...
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Article
Construction of a working area for the manipulation mechanism of simultaneous relative manipulation
Synthesis problems of handling mechanisms of simultaneous relative manipulation have been considered. The direct positional problem for the parallel structure mechanism of simultaneous relative manipulation ha...
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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
Kinematic analysis of a spatial parallel structure mechanism with a circular guide
A parallel structure mechanism is considered with motors on a circle rail. This allows rotation of the output link around the vertical axis by 360°. This property is very important for simulators modeling car ...
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Article
Speed and force criteria for the proximity to singularities of parallel structure manipulators
The criteria of proximity to singularities of parallel structure mechanisms are considered. The criteria are based on the relative moments of forcing screws acting on the output unit of the mechanism and kinem...
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Article
Criteria of dynamic and kinematic synthesis of parallel mechanisms
The criteria of dynamic and kinematic synthesis are discussed as well as the constraints imposed by kinematic chains of parallel mechanisms. They are to provide the synthesis of these objects on the basis of t...
