Parallel Mechanisms with Group Kinematic Decoupling Ensured by Multiloop Power Transmission in Kinematic Chains
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TECHNOLOGIES IN MECHANICAL ENGINEERING
Parallel Mechanisms with Group Kinematic Decoupling Ensured by Multiloop Power Transmission in Kinematic Chains K. B. Salamandraa,*, L. I. Tyvesa, V. A. Glazunova, and E. S. Gebelb a Blagonravov
Institute of Machine Science, Russian Academy of Sciences, Moscow, 101990 Russia b Omsk State Technical University, Omsk, 644050 Russia *e-mail: [email protected] Received March 25, 2020; accepted May 29, 2020
Abstract—Parallel manipulation mechanisms are multiloop systems in which the parallel arrangement of the kinematic chains allows for the load capacity to be increased, the size and weight of every component to be reduced, and the movable links to be relieved of the gravity force of the actuators by locating them on a fixed base. In this article, the synthesis of a new parallel mechanism with an increased number of parallel loops for transmitting the power from the actuators to the output link is considered. A workspace has been constructed for the mock-up of the mechanism developed equipped with actuators of the translational and rotational movements of the output link. Dynamic analysis of the parallel mechanism with three kinematic chains has been performed considering the weights of the intermediate links. Keywords: multiloop system, manipulator, parallel mechanism, synthesis of mechanisms, workspace. DOI: 10.3103/S105261882005012X
Robotic manipulator systems based on parallel mechanisms are one of the promising lines of development in mechanical engineering [1]. Parallel mechanisms are an example of a multiloop system. It is this fundamental property of the mechanisms of this kind that, due to the distribution of the load over several parallel kinematic chains, allows for the load capacity to be increased, the size and weight of each component to be reduced, and the system to be produced in the form of a stiff space framework [2]. Furthermore, compared with single-loop manipulators with opened kinematic chains of the actuator connected to the output link in series, the precision and speed of manipulation are enhanced and the movable links of the manipulator are relieved of the gravity force of the actuators by locating them on a fixed base [2, 3]. An additional advantage of parallel manipulation mechanisms is the homotypical architecture of each kinematic chain, which makes the process of manufacturing the mechanism simpler [4]. An example of a multiloop system is the parallel mechanism depicted in Fig. 1 with six degrees of freedom and three kinematic chains each of which has a drive shaft with two additional couplings and turning kinematic pairs that ensure angular movements of the output link. Furthermore, each kinematic pair is fitted with two coaxially actuators, a linear one and a rotary one. The main advantage of the mechanism is the full group kinematic decoupling between the position and orientation of the output link, i.e., the absence of kinematic linkages between the actuators of the input links that ensure the translational motion of the output link and the
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