Parallel manipulator of a class RoboMech for generation of horizontal trajectories family

Baigunchekov, Zhumadil; Izmambetov, M.; Zhumasheva, Zh.; Baigunchekov, T.; Mustafa, Azamat

doi:10.1007/978-3-030-20131-9_137

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…Parallel manipulators, i. e. manipulators with closed kinematic chains, which possess the property of manipulating robots as the manipulation of moving output objects in accordance with their laws of movements and possess the property of mechanisms as setting the laws of movements of actuators, are called parallel manipulators of a RoboMech class [1][2][3]. In simultaneously setting the laws of movement of end-effectors and actuators, parallel manipulators of a RoboMech class work under certain structural schemes and geometric parameters of the links.…”

Section: у данIй роботI викладенI методи структурно-параметричного сиmentioning

confidence: 99%

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A robomech class parallel manipulator with three degrees of freedom

Baigunchekov

Mustafa

Sobh

et al. 2020

EEJET

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Section: у данIй роботI викладенI методи структурно-параметричного сиmentioning

confidence: 99%

“…Therefore, in the inverse kinematics, the position analysis of the group II (1,2), II (3,4), and II (5,6) are successively solved. To solve the position analysis of the group II (1,2), we derive an ABP vector loop-closure equation…”

mentioning

confidence: 99%

A robomech class parallel manipulator with three degrees of freedom

Baigunchekov

Mustafa

Sobh

et al. 2020

EEJET

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“…In this paper, kinematic synthesis of the PM with two end effectors is carried out on the basis of a modular approach [22,23], according to which PMs, regardless of their complexity, are formed by connecting the output objects (end effectors) with a base using closing kinematic chains (CKCs), which are structural modules. CKCs can be active, passive, and negative, which have positive, zero, and negative DOFs, respectively.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

et al. 2021

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In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three-joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.

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