Structural synthesis and analysis of multiple-jointed mechanical systems and industrial application for robot manipulator

Pozhbelko, Vladimir; Kuts, E.N.

doi:10.1016/j.proeng.2017.10.712

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…When choosing a calculation scheme, it is necessary to take into account the design features of the machine, its operating conditions, research tasks, etc. [15]. Therefore, it can be argued that there is a minimum level of the calculation scheme simplification, after which it will no longer reflect the machine design.…”

Section: Analysis Of the Main Achievements And Literaturementioning

confidence: 99%

Modeling of three-link road trains

Zinko

Lanets

Skvarok

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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It is proposed to use graphs for developing the mathematical model of multi-link road trains with coupling devices of different designs. The calculation scheme is formed on the basis of the structure graph of the multi-link road train construction scheme. Next, the structure graph of the mathematical model generalized coordinates levels is written. This allows to develop the mathematical model of appropriate complexity depending on the research objectives. The developed mathematical motion model of a multi-link road train with an elastic-damping joints of their main elements was represented by a system of nonlinear inhomogeneous ordinary differential equations of the second order. The acceleration process for three-link road train with pneumatic coupling devices between train links was modeled.

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Section: Analysis Of the Main Achievements And Literaturementioning

confidence: 99%

Modeling of three-link road trains

Zinko

Lanets

Skvarok

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Recent progress in robotics paved the way toward development of manipulators with various kinematic chains that can meet the application requirements. 1 Today, numerous types of robots are used in applications such as pick and place operations, 2 assembly duties, 3 haptic rendering 4 or high-precision positioning. 5 Among these manipulators, structures with parallel kinematic configurations have caught much attention due to their superiority in providing faster response.…”

Section: Introductionmentioning

confidence: 99%

Unified Kinematics of Prismatically Actuated Parallel Delta Robots

et al. 2019

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SummaryThis paper presents a unified formulation for the kinematics, singularity and workspace analyses of parallel delta robots with prismatic actuation. Unlike the existing studies, the derivations presented in this paper are made by assuming variable angles and variable link lengths. Thus, the presented scheme can be used for all of the possible linear delta robot configurations including the ones with asymmetric kinematic chains. Referring to a geometry-based derivation, the paper first formulates the position and the velocity kinematics of linear delta robots with non-iterative exact solutions. Then, all of the singular configurations are identified assuming a parametric content for the Jacobian matrix derived in the velocity kinematics section. Furthermore, a benchmark study is carried out to determine the linear delta robot configuration with the maximum cubic workspace among symmetric and semi-symmetric kinematic chains. In order to show the validity of the proposed approach, two sets of experiments are made, respectively, on the horizontal and the Keops type of linear delta robots. The experiment results for the confirmation of the presented kinematic analysis and the simulation results for the determination of the maximum cubic workspace illustrate the efficacy and the flexible applicability of the proposed framework.

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