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    Article

    Effective Workspaces of Parallel Robots with Step Motors

    Problems arising in the operation of parallel mechanisms close to singularities of the first kind are investigated. An approach permitting the identification of their effective workspaces (in terms of the velo...

    M. N. Zakharov, M. S. Kuts, P. A. Laryushkin in Russian Engineering Research (2022)

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    Article

    Workspace of a Plane Lambda Mechanism with Singularities

    The workspace of a plane lambda mechanism is studied. The analysis takes account of singularities that have a negative influence on the size of the zones and the performance of the mechanism. Parametric synthe...

    K. G. Erastova, N. V. Shikhanova, R. A. Komarov in Russian Engineering Research (2021)

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    Article

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

    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, whi...

    P. A. Laryushkin, K. G. Erastova in Journal of Machinery Manufacture and Relia… (2019)

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    Article

    Calculation of Delta-Type Mechanisms with Linear Actuators and Different Numbers of Degrees of Freedom

    This work is dedicated to consideration of generalized mathematical models of parallel structure of the Delta type. The main design dependences for kinematic chains with four or six degrees of freedom are pres...

    P. A. Laryushkin, K. G. Erastova in Journal of Machinery Manufacture and Relia… (2019)

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    Article

    SQP Optimization of a Planar Parallel Mechanism: Maximization of Effective Working Zone

    For the example of a planar 3-RRR mechanism of parallel structure, geometric optimization of the mechanism by the SQP method so as to maximize the theoretical and effective working zone is considered, in the c...

    M. N. Zakharov, P. A. Laryushkin, K. G. Erastova in Russian Engineering Research (2018)

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    Article

    Stable Geometry of a Plane Five-Link Mechanism

    A five-link mechanism of parallel structure with rotary kinematic pairs is considered. Possible configurations of the mechanism, its working regions, and singular positions are discussed. Possible optimization...

    M. N. Zakharov, P. A. Laryushkin, K. G. Erastova in Russian Engineering Research (2018)

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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 ...

    P. A. Laryushkin, G. V. Rashoyan in Journal of Machinery Manufacture and Relia… (2017)

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    Article

    Spherical manipulator with parallel structure

    A spherical manipulator with parallel structure is considered. The advantages and disadvantages of its various configurations are assessed. The inverse position problem is solved in general form.

    P. A. Laryushkin, M. N. Zakharov, K. G. Erastova in Russian Engineering Research (2017)