-
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
-
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,...
-
Article
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...
-
Article
Assisting Robotic Surgical Complexes for Minimally Invasive Operations
The current state of robotic-assisted complexes in minimally invasive surgery is considered. Three different manipulators for robotic surgery, which differ from well-known foreign analogues in a number of adv...
-
Article
Development and Investigation of a Parallel-Structure Mechanism with Toothed Gears Taking into Account Friction
A new parallel-structure mechanism, the distinctive feature of which consists in the presence of a kinematic decoupling obtained resulting from the use of cardan joints in each kinematic chain, as well as cyli...
-
Article
Taxonomic and Community Composition of Zooperiphyton in Forest-Tundra Lakes (Western Siberia)
Data on the taxonomic and community composition of zooperiphyton of forest-tundra lakes are presented. The taxonomic composition includes 120 lowest identified taxa (LIT), and the group of insects has the grea...
-
Article
Mathematical Model of the Motion of Gaseous Thermal Decomposition Products of Composites in a Porous Frame under Strong Heat Flows
The paper describes theoretical issues of the motion of gaseous thermal decomposition products of composite materials in a porous frame structure under the effect of intensive heat flows of different nature. T...
-
Article
Construction of a Singularity Zone for a Type of Mechanisms with Parallel Structure
This paper presents a mechanism with parallel structure that is classified to the class of l‑coordinate mechanisms. The section of the singularity zone (of the zone of singular positions) is determined for this m...
-
Article
Development and Investigation of Mechanisms with a Constant Point of Entry of a Tool into the Working Area, Intended for Surgery and Study of the Properties of Plasma
This paper discusses the mechanisms that ensure a constant point of entry of a tool into a working area. These devices were obtained using bevel gears or belt drives. The solution of the problem of the positio...
-
Article
Promising Minimally Invasive Robotic Surgical Complexes with Parallel Structure
This paper considers the current state of robotic assisted complexes in minimally invasive surgery. Three different manipulators for robotic surgery are proposed, which differ from well-known foreign analogues...
-
Article
Parallel Mechanisms with Group Kinematic Decoupling Ensured by Multiloop Power Transmission in Kinematic Chains
Parallel manipulation mechanisms are multiloop systems in which the parallel arrangement of the kinematic chains allows for the load capacity to be increased, the size and weight of every component to be reduc...
-
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...
-
Article
Founder of the Small Arms and Artillery Design School On the 125th Anniversary of the Birth of Academician A.A. Blagonravov
This paper is devoted to the life and professional activities of Academician A.A. Blagonravov (1894−1975) as an outstanding Soviet scientist and great promoter of science. He made an invaluable contribution to...
-
Article
Formulation and Solution of the Problem of the Positions of a Mechanism with a Parallel–Series Structure Used in Surgery as an Alternative to the DA VINCI Robot
This article provides analysis of a robot-assisted system, an alternative to the da Vinci system. The diagram of the developed mechanism with a parallel–series structure is provided. The problem of the positions ...
-
Article
Parallel and Sequential Structures of Manipulators in Robotic Surgery
The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic syste...
-
Chapter
The Control Complex Robotic System on Parallel Mechanism
Problem statement: Parallel mechanisms analysis and design are the main trends of the SEMS. These mechanisms as universal modules are widely used in different industrial measuring, handling, and orienting mechani...
-
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...
-
Chapter and Conference Paper
The Design of a New Rotary Hexapod with a Single Active Degree of Freedom
This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom...
-
Article
Urgent Problems of Machine Science and Ways of Solving Them: Wave and Additive Technologies, the Machine Tool Industry, and Robot Surgery
The various problems of modern machine science related to the requirements made on the created devices for different purpose are analyzed: processing and medical robots, measuring and testing devices, training...
-
Article
Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law
A parallel manipulator with six degrees of freedom is considered. A dynamic model for the spherical part of the manipulator is presented. Dynamic analysis is carried out. The real laws of motion of the output ...
