Design and Analysis of the 6-DOF Decoupled Parallel Kinematics Mechanism

Glazunov, Victor; Nosova, N. Yu.; Kheylo, Sergey; Tsarkov, Andrey

doi:10.1007/978-3-319-74363-9_6

Cited by 10 publications

(1 citation statement)

References 4 publications

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“…However, having a wide range of advantages, they have several disadvantages, including a relatively small working area [8][9][10] and the presence of special positions (singularities) [11,12]. Special positions are those positions in which the mobility of the links is lost, which can lead to a loss of the degree of freedom, loss of structural rigidity, uncontrolled movement of both intermediate links, and the output link of the mechanism [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Determination of Special Positions for Solving the Problem of Joint-Relative Manipulation Mechanisms Kinematic Control

Pashchenko

Romanov

Chaikin

et al. 2021

Electromechanics and Robotics

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The article deals with topical issues of solving the problem of analyzing the special provisions of the mechanisms of joint-relative manipulation. The analysis of existing methods and approaches for determining the special provisions of the mechanisms is carried out. The approach based on the search for bifurcation conditions is considered in detail. Within the framework of using this approach, special positions of the planar six-branch mechanism are found through the compilation of coupling equations. The working area of the flat six-shaft mechanism is constructed taking into account the permissible and special provisions. The method of finding the working space of the mechanism of joint-relative manipulation using the iterative method is shown. The working area of the mechanism of joint-relative manipulation is constructed, taking into account the permissible and special provisions. The working area of the mechanisms of joint-relative manipulation is investigated, taking into account special positions, and an approach to solving the problem of forming a program trajectory in the space of generalized coordinates is proposed, taking into account the presence of special positions of the mechanism.

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