Possible applications of mechanisms of parallel structure

Kheilo, S. V.; Glazunov, Victor; Shirinkin, M. A.; Kalendarev, A. V.

doi:10.3103/s1052618813050063

Cited by 17 publications

(3 citation statements)

References 4 publications

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“…В работе рассмотрен плоский манипулятор с тремя степенями свободы и заторможенными приводами (рис. 1), для которого в [6] аналитическим методом на упрощённой модели определены собственные частоты малых колебаний.…”

Section: материалы модели эксперименты и методыunclassified

“…Колебания этих манипуляторов менее изучены. В [6] предложена методика расчёта собственных частот колебаний плоского манипулятора с параллельной структурой, в которой учитываются только инерционные параметры выходного звена и упругие свойства приводов, а промежуточные звенья считаются невесомыми и абсолютно жёсткими. Для составления уравнений малых колебаний манипулятора используются уравнения Лагранжа второго рода и плоская расчётная схема.…”

Section: Introductionunclassified

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Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Tolstosheev

2023

Automation and Modeling in Design and Management

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The aim of the study is to develop and analyse computer models for determining the natural frequencies and oscillation modes of a planar parallel manipulator using the Universal Mechanism software package. The article is devoted to solving the problem of ensuring vibration resistance of robot manipulators. The novelty of the work lies in developing and analysing a computer model of a planar manipulator, in which solid bodies form joints with the number of freedom degrees in relative motion from 1 to 4; in determining the influence of the mass and link elasticity, as well as the type of kinematic pairs on natural frequencies and oscillation modes. As a result of the study, computer models of a planar manipulator with three degrees of freedom are developed. For these models natural frequencies and vibration modes are determined, the values of natural frequencies are compared with the known analytical solution, the influence of inertial and elastic properties of links, the number of excess links to natural frequencies and oscillation modes are established. The proposed computer model can be used to determine with sufficient accuracy the natural frequencies and oscillation modes of a planar parallel manipulator; a planar manipulator with weightless elastic rods and an elastic drive has six natural oscillation frequencies. Natural forms retain their shape for different values of the inertial and elastic parameters of the links. Oscillations of the platform on these forms in the horizontal and vertical planes are independent. The values of natural frequencies, at which the platform oscillates in the horizontal motion of the mechanism links, depend on the ratio of the drive stiffness coefficients and the bending stiffness of the rods. The values of natural frequencies, at which the platform oscillates in the vertical plane, depend on the bending and torsional stiffness of the rods and on the type of kinematic pairs in the mechanism scheme.

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Section: материалы модели эксперименты и методыunclassified

Section: Introductionunclassified

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Tolstosheev

2023

Automation and Modeling in Design and Management

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“…A mixing device that provides a complex trajectory with four dependent motions is shown in [9]. Several parallel mechanisms shown in [10] have been synthesized to reach combined spatial motions by their end-effectors.…”

Section: • It Has Been Found That the Developed Mechanism Is The Simpmentioning

confidence: 99%

Development of a Mixing Mechanism with a Complex Motion of the End-effector

Fomin¹,

Ivanov²

2019

SV-JME

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This study is focused on the development and analysis of a single-driven mixing mechanism, synthesized with a minimum number of links and joints. The end-effector of this mechanism is designed as a screw ending with a mixing element (blades) moving along a spatial trajectory. The end-effector is set between movable links in the kinematic chain of the mechanism. This allows increasing the working zone of the endeffector. The study provides kinematic analysis via an analytical method of coordinate transformations that have resulted in the detection of variable kinematic parameters (tilt angles and displacements in joints) depending on driving link rotation angle. Based on these results, the motion trajectory of the mixing element has been analytically determined and reproduced. Analytical findings have been verified by results of motion simulations. The presented mechanism is advisable to use for the preparation of various mixtures and levelling the concentrations and temperature of mixed substances. The mechanism can be used in the food, medical, chemical, and construction industries, as well as in agriculture.

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Toward Kinematic Analysis of Rotary Hexapod with Single Drive

Fomin

Glazunov

2019

Advances in Mechanism and Machine Science

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Possible applications of mechanisms of parallel structure

Cited by 17 publications

References 4 publications

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Development of a Mixing Mechanism with a Complex Motion of the End-effector

Toward Kinematic Analysis of Rotary Hexapod with Single Drive

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