Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law

Nosova, N. Yu.; Kheilo, S. V.; Глазунов, В. А.; Tsarkov, Andrey

doi:10.3103/s1052618818030111

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…1). Such manipulators are used in orienting devices, in test benches, medical robotic complexes, for processing spherical surfaces, in mixers, and for performing rotational movements (Huda and Takeda, 2007;Mianovski, 2007;Leguay-Durand and Reboulet, 1997;Bai et al, 2016;Chaker et al, 2011;Nosova et al, 2018). The paper considers a spherical manipulator with 3 degrees of freedom and investigates the issues of the kinematic and dynamic accuracy of the positioning of the executive body.…”

Section: Kinematic Accuracy Of the Spherical Mechanismmentioning

confidence: 99%

Kinematic and dynamic accuracy of spherical mechanisms

Kheylo²,

Nguyen

2022

Mech. Sci.

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Abstract. Among parallel robots, spherical robots occupy an important place. Most applications of spherical manipulators can be found in orienting devices, such as camera orienting and medical instrument alignment. A spherical parallel robot is, in general, made up of the base platform and the moving platform. This mobile platform and base are connected by three equally spaced legs, each consisting of revolute joints only. The axes of all joints intersect at a common point, which is called the center of rotation. The motion of the moving platform is confined on the surface of a sphere centered at the rotation center. A spherical parallel robot provides 3 degrees of freedom of pure rotations. These robots have been the subject of many papers dealing with the structure, the problems of position and velocity, workspace modeling, singularity analysis, and some problems with the dynamic analysis. However, not all the important problems have been solved. These concern the problem of accuracy. This paper presents accuracy of the spherical parallel. In the considered spherical manipulator, each leg consists of five kinematic pairs. The kinematic accuracy is determined on the kinematic problem. The dynamic accuracy is estimated on the equation of motion. Examples of solving the problem of determining the positioning error of the output level are presented.

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Section: Kinematic Accuracy Of the Spherical Mechanismmentioning

confidence: 99%

Kinematic and dynamic accuracy of spherical mechanisms

Kheylo²,

Nguyen

2022

Mech. Sci.

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“…, n) are generalized coordinates and the symbols 'r' and 'e' express abbreviations for the words rigid and elastic. Examples of the implementation of dynamic analysis for other systems can be found, for example, in [15][16][17].…”

Section: Traditional Formulation Of the Problemmentioning

confidence: 99%

On a pseudo-periodicity in the elastodynamics

Kurdina

Gevorgyan

2022

J. Phys.: Conf. Ser.

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The periodic laws of motion of a real mechanism imply the periodicity of all dynamic characteristics of the mechanism during such a movement, including the elastic displacements of its constituent links. This statement covers the most difficult problem of the dynamics of an elastically deformable body. However the existing publications devoted to the study of flexible mechanisms do not mention the periodicity of elastic displacements of the links when the mechanisms move according to periodic laws. This article discusses the periodicity and pseudo-periodicity of the elastic displacements of the links using examples of calculations of the motion of a double pendulum and a slider–crank mechanism without taking into account dissipative forces.

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Dynamics of a parallel mechanism of the Orthoglide type with three degrees of freedom: frequency analysis

Nosova¹,

Misyurin²

2022

Procedia Computer Science

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Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law

Cited by 3 publications

References 6 publications

Kinematic and dynamic accuracy of spherical mechanisms

Kinematic and dynamic accuracy of spherical mechanisms

On a pseudo-periodicity in the elastodynamics

Dynamics of a parallel mechanism of the Orthoglide type with three degrees of freedom: frequency analysis

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