5DOF Mechanism for Vertebral Surgery Kinematic Analysis and Velocity Calculation

Глазунов, В. А.; Филиппов, Г. С.; Lastochkin, A. B.; Ceccarelli, Marco; Скворцов, С. А.; Rashoyan, G. V.; Алешин, А. К.; Shaluhin, K. A.

doi:10.1007/978-3-030-20131-9_172

Cited by 4 publications

(2 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…A distinctive feature of these manipulators is the presence of a "frame structure," which increases the load-bearing capacity and rigidity of the manipulator and provides sufficiently large linear movements for the tool, but limited rotation angles [9]. The object of the study is the mechanism of the parallel-serial structure shown in Fig.…”

Section: Statement Of the Problemmentioning

confidence: 99%

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Глазунов

Филиппов

Rashoyan

et al. 2021

Electromechanics and Robotics

View full text Add to dashboard Cite

The subject of article is the kinematic and dynamic analysis of the parallelsequential structure spatial mechanisms. The synthesis of a parallel-sequential structure mechanism for extended objects processing with kinematic chains made according to the l-coordinate scheme was carried out. Its analysis has been carried out. Kinematic and dynamic models of this mechanism have been developed. Mathematical models have been developed to study the kinematics and dynamics of a mechanism with an extended working area. The solution of the inverse problem on positions for this mechanism is given. This solution uses the classic coordinate transformation method. The final system of the constraints equations is obtained. The description of the methodology for solving the problem of velocities, which consists in differentiating the constraints equations (the Angeles-Gosselin method), is given. A system of implicit functions is presented. The solution of the problem of dynamics for a partial planar parallel structure mechanism with three kinematic chains is described. This solution was carried out using a control law that minimizes errors in speed, position, and acceleration. The mutual influence of drive motors on each other, as well as on the law of the executive link motion, is investigated. Fullscale and numerical experiments have been carried out on the developed models, and their results are presented. In a numerical experiment, a situation was simulated in which movement along one coordinate occurs according to a harmonic law, and no movement along the rest.

show abstract

Section: Statement Of the Problemmentioning

confidence: 99%

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Глазунов

Филиппов

Rashoyan

et al. 2021

Electromechanics and Robotics

View full text Add to dashboard Cite

show abstract

“…А.А. Благонравова РАН [10][11][12]. Манипулятор построен на основе трех кинематических цепей и трех линейных двигателей, оси которых расположены ортогонально друг другу.…”

unclassified

Structural Synthesis and Analysis of Mechanisms of Parallel Structure With Prismatic Motion of the Output Link

Susakova¹,

Samoilova²,

Edakin³

et al. 2020

BSTD

View full text Add to dashboard Cite

show abstract

A New Molecular Approach for Creative Design of Multiloop Linkages and Planetary Gear Mechanisms via Novel NTG-Graph Representation

Pozhbelko

2023

Advances in Mechanical Engineering

View full text Add to dashboard Cite

5DOF Mechanism for Vertebral Surgery Kinematic Analysis and Velocity Calculation

Cited by 4 publications

References 1 publication

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Structural Synthesis and Analysis of Mechanisms of Parallel Structure With Prismatic Motion of the Output Link

A New Molecular Approach for Creative Design of Multiloop Linkages and Planetary Gear Mechanisms via Novel NTG-Graph Representation

Contact Info

Product

Resources

About