Urgent Problems of Machine Science and Ways of Solving Them: Wave and Additive Technologies, the Machine Tool Industry, and Robot Surgery

Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator

“…Thus, the position and orientation of frame 6 are determined. The further solution of the forward position problem is as follows: coordinates p S of point S of the end-effector can be calculated according to expression (17) and its orientation characterized by vector n can be calculated using relation (4). Since expression (36) can have up to eight different solutions for parameter a, the several distinct assemblies of the manipulator exist for the same values of the generalized coordinates.…”

“…Mechanical systems built on this principle are rated as hybrid systems. [3][4][5] Currently, many hybrid mechanisms, manipulators, and robots are known, including those with parallel-serial structure and providing increased rigidity, speedwork, extended sizes of working zones, and other important functional properties. Among such mechanical systems are five-degree-of-freedom (5-DOF) Cassino Hybrid Manipulator, which consists of parallel part in the form of a 3-DOF tripod, on the platform of which a 2-DOF telescopic arm is mounted; 6 hybrid robot manipulator, which is used for propeller grinding; 7 5-DOF manipulator Georg V including parallel chain-a tripod, with an additional serial chaina two-axis wrist joint; 8 10-DOF industrial manipulator designed for studying the feasibility of loading packages inside a trailer (UPSarm); 9 6-DOF manipulator, which consists of a 3-DOF planar parallel part and a 3-DOF serial part, that is designed as a robotic arm; 10 5-DOF mechanism for positioning a laser head composed of a parallel chain in the form of a planar mechanism and a serial chain in the form of a spatial mechanism; 11 5-DOF Parallel Mechanism-Wrist Mechanism manipulator, which includes a parallel part providing displacements along three coordinate axes and a wrist (serial) part providing two rotations; 12 6-DOF modular manipulator for robotized deburring applications, which includes a 3-RRR chain having parallel structure and a PRR arm having serial structure; 13 5-DOF micromanipulator designed for ophthalmic surgery, which includes two parallel kinematic chains and one serial chain-needle slider; 14,15 five-axis (5-DOF) machine tool, which has a 2-DOF parallel part and 3-DOF serial part; 16 6-DOF forging mechanism with application to heavy-duty manipulations; 17 6-DOF micromanipulator consists of two compliant parallel kinematic chains-a 3-RRR chain and a 3-RPS chain; 18 mobile robot, which includes a planar parallel chain in the form of star-triangle mechanism and a serial puma-type manipulator arm; 19 4-DOF haptic micromanipulator utilizing a planar 3-PRR parallel mechanism (3-DOF mechanism) and a planar 1-DOF modular bridge mechanism; 20 5-DOF machine tool, which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism; 21 5-DOF (with 3T2R motion pattern) polishing machine, which includes a 3-DOF parallel mechanism for vertical motion and XY rotations and a 2-DOF serial mechanism for XY positioning; 22 humanoid arm, which consists of a serial chain of shoulder, elbow, and wrist joints and a 3-UPS/S parallel mechanism prototyping a...…”

Development of a Hydraulic Spring System for Vehicles Based on Various Control Laws

“…The creation of new promising vehicles is one of the priority tasks of modern machine science [1][2][3][4]. An important unit of wheeled and tracked vehicles is the spring system [5][6][7][8].…”