Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

Pozhbelko, Vladimir; Kuts, E.N.

doi:10.1007/978-3-319-89911-4_14

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…For this reason, all the results of studies to determine the kinematic characteristics of individual points of the connecting rod 3 and slider 4 of the two-wire Assur group (see fig. 1) performed in [12] are scientifically untenable. In addition, all the mathematical calculations in [20] on determining the speed and acceleration of the moving point of the satellite of both the planetary and differential mechanisms (see pages 274-276) are also incorrect.…”

Section: The Results Of Computational Experiments In the Mathcad Systmentioning

confidence: 99%

“…179 in [1] and, which is one and the same, in task 16.36 [2]). An analysis of works [3][4][5][6][7][8][9][10][11][12][13][14][15][16] showed that the geared linkage mechanism (according to N.E. Zhukovsky, "as a crank") pivotally connected to the satellite of the planetary mechanism of the two-wire Assur group of the second kind is not known at all, except in [14] ( fig.…”

Section: Introductionmentioning

confidence: 99%

“…At the same time, as applied to the drives of vertically spindle drums of cotton harvesters as planetary mechanisms, equation 2in [12,20] is presented in the following 2); i21 -the gear ratio determined through the radii of the fixed and moving circles, taking into account that the gearing is external (i.e. taking into account the sign of i21 in the form ) and/or internal, although the gear wheel 1 is fixed (ω1 = 0).…”

Section: Introductionmentioning

confidence: 99%

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Incorrect application of the epicycloid equation to the planetary mechanism of the cotton harvester

Turanov

Shaumarova

2020

E3S Web Conf.

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The content of the paper is based on the mathematical construction of the parametric equation of the epi- and hypocycloid curve described by a circle point. The purpose of the paper is to present the equations of epi- and hypocycloids in a parametric form in relation to the epi- and hypocyclic mechanism in a form convenient for calculation; to present the results of computational experiments on constructing phase trajectories of motion of a moving point of an epi- and hypocycloid. A detailed analysis of the analytical model of epi- and hypocycloids circumscribed by a point of a circle (on a moving circle) has been made. The equations of epi- and hypocycloids are presented in parametric form as applied to the epi- and hypocyclic mechanism in a form convenient for calculation. The results of studies on the construction of phase trajectories of a moving point of an epi- and hypocycloid with an analysis of the obtained curves are presented. The analytical model of epi- and hypocycloids is of practical importance, since it allows designing geared linkage mechanisms formed by attaching two-wire Assur group of various modifications to the planetary mechanism, as the primary mechanism.

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Section: The Results Of Computational Experiments In the Mathcad Systmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Incorrect application of the epicycloid equation to the planetary mechanism of the cotton harvester

Turanov

Shaumarova

2020

E3S Web Conf.

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A 3-R(SRS)RP Multi-Loop Mechanism for Space Manipulation: Design, Kinematics, Singularity, and Workspace

Guo

Tang

et al. 2019

Journal of Mechanisms and Robotics

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Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied. The novel design is mainly reflected in the robot’s structure, variable section, and novel compound hinge. Given these features, the forward-displacement undertaken with a closed-loop method leads to a complex mapping diagram. Only numerical solutions are obtained in this model due to the variable section parameter λ. This variable affects kinematic performances such as bending and folding properties. Moreover, the node differential kinematics and the Jacobian matrix are solved to analyze singular configurations of the mechanism. The workspace is then evaluated via a numerical method with varying λ. The bending and folding properties and the continuous workspace of the given robot vary while changing λ. Hence, the robot has great potentials of good performances in various applications. With this robot, a multimodule manipulator with a wide range of operations, increased mobility and rigidity, variable geometry, and adaptable shape based on mission requirements can be constructed.

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A Unified Theory of Structure, Synthesis and Analysis of Multibody Mechanical Systems with Geometrical, Flexible and Dynamic Connections. Part 2. Limiting Theorems and Existence Areas

Pozhbelko

2020

PoHEI.MB

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This paper examines a family of limiting structural and topological theorems complemented by two well-known Gruebler theorems that can be used for determining the limiting areas of existence of possible multibody mechanisms. All the multiloop linkage, cam and gear mechanisms synthesized using the proposed unified theory have the optimal structure without redundant constraints and uncontrolled movements.

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Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

Cited by 3 publications

References 21 publications

Incorrect application of the epicycloid equation to the planetary mechanism of the cotton harvester

Incorrect application of the epicycloid equation to the planetary mechanism of the cotton harvester

A 3-R(SRS)RP Multi-Loop Mechanism for Space Manipulation: Design, Kinematics, Singularity, and Workspace

A Unified Theory of Structure, Synthesis and Analysis of Multibody Mechanical Systems with Geometrical, Flexible and Dynamic Connections. Part 2. Limiting Theorems and Existence Areas

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