On the features of applying the theory of screws to the evaluation of proximity to specific positions of the mechanisms of parallel structure

Laryushkin, P. A.; Rashoyan, G. V.; Erastova, K. G.

doi:10.3103/s1052618817040100

Cited by 9 publications

(1 citation statement)

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“…Therefore, many researchers have calculated various indices and parameters (the inverse condition number, the smallest singular value of a Jacobian matrix, pressure angles, etc.) to define closeness to singularities [3][4][5][6][7][8][9][10][11]. Some of these criteria are practically significant (motion/force transmissibility, for example, presented in [12,13]) and some of them are hard to use in practice since they do not have a clear physical meaning.…”

Section: Introductionmentioning

confidence: 99%

Effective workspaces of parallel robots

Erastova

2022

Robotica

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An approach for calculating the effective workspaces of parallel mechanisms has been considered in this paper. The effective workspace is a set of reachable by the end-effector points, where an important parameter (or parameters) from the point of view of operation is not higher than critical. In this article, the speed and torque in the drive and the stiffness of the mechanism are considered as such parameters. An approach to determining the appropriate effective workspace is presented for each parameter. The optimization process, which is based on presented methods, allows one to choose basic technical solutions of the designed robot: the links (lengths and cross-sections), the drives, and types of hinges, which guarantee its operability at the specified operational characteristics. Case studies of a delta robot with four degrees of freedom and a planar five-bar mechanism are presented for testing these approaches. The presented methods are of great practical importance because it uses movement parameters or operational characteristics that are decisive for this mechanism and have clear physical meaning.

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