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Article
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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Article
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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Article
Angles between Subspaces of Wrenches in Parallel Mechanisms
The possibility of a theoretical analysis of the proximity of parallel mechanisms to singularities in the case when the group of all wrenches of the mechanism includes linearly dependent wrenches is considered...
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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...
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Article
Experimental Study of Force Transfer in a Delta-Type Mechanism with Four Degrees of Freedom
In this paper, an experiment to determine the critical external force that acts on the output link of the Delta mechanism of a parallel structure with linear drives and four degrees of freedom has been conside...
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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...
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Chapter and Conference Paper
Parallel Mechanisms in Layout of Human Musculoskeletal System
The hypothesis about the structure of the musculoskeletal system of a human, as a system of coordinated parallel mechanisms, first expressed in the article. Clinical and technical examples demonstrate the simi...
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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...
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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...
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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...
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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...
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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
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.
