Structurally Parametric Synthesis of a RoboMech Class Parallel Manipulator with Three DOF

Baigunchekov, Zhumadil; Sobh, Tarek M.; Patel, Sarosh; Mustafa, Azamat

doi:10.1007/978-3-030-48989-2_40

Cited by 1 publication

(2 citation statements)

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“…The linear representability of Equation ( 5) allows one to formulate and solve the Chebyshev and least-square approximations for parametric synthesis [50]. In the Chebyshev approximation problem, the vectors of synthesis parameters are determined from the minimum of the functional…”

Section: Structural-parametric Synthesis Of the Pm With Two Slidersmentioning

confidence: 99%

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Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

et al. 2021

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This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outlines a possible application of the proposed approach to design a PM for a cold stamping technological line. The proposed PM is formed by connecting two sliders (input and output objects) using one passive and one negative closing kinematic chain (CKC). The passive CKC does not impose a geometric constraint on the movements of the sliders and the geometric parameters of its links are varied to satisfy the geometric constraint of the negative CKC. The negative CKC imposes one geometric constraint on the movements of the sliders and its geometric parameters are determined on the basis of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the considered PM are solved to demonstrate the feasibility and effectiveness of the proposed formulations and case of study.

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Section: Structural-parametric Synthesis Of the Pm With Two Slidersmentioning

confidence: 99%

“…For position analysis of the considered PM, we use the method of conditional generalized coordinates [50]. According to this method, we remove the link 5 by disconnecting the elements of the joints D and E and select the slider P as a conditional input link due to the additional DOF that appears.…”

Section: Position Analysismentioning

confidence: 99%