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Open AccessErratum to: Structure, Kinematics, and Prototy** of a Parallel Manipulator with a Remote Center of Rotation
An Erratum to this paper has been published: https://doi.org/10.1134/S1052618824010151
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Control of a Four-Coordinate Manipulator with a Remote Center of Motion
Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals...
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Open AccessStructure, Kinematics, and Prototy** of a Parallel Manipulator with a Remote Center of Rotation
A mechanism with a remote center of rotation, intended for use in medicine, and in particular, minimally invasive operations, is discussed. The basic mechanism consists of two parallelograms with common links,...
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Development of New Tools for Endoscopic Surgical Operations
In this work, new devices and tools for minimally invasive endoscopic surgery are considered, which were developed by Mechanical Engineering Research Institute of the Russian Academy of Sciences, together with...
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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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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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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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Development of mechanisms of parallel structure with four degrees of freedom and partial decoupling
Mechanisms of parallel structure with four degrees of freedom are presented. The output link must perform translational motions and rotations about an arbitrary vertical axis. Structural synthesis is performed...
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Development of parallel-structured mechanisms with kinematic and dynamic uncoupling
An approach is discussed to the structural analysis and synthesis of parallel-structured mechanisms using the mathematical apparatus of a closed groups of screws, i.e., groups included in the screw products of...
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Analysis and classification of relative manipulation devices
Devices of relative manipulation are considered for which the classification and constraint conditions are given, and also a problem on positions is solved.
