Kinematic synthesis and analysis of the robomech class parallel manipulator with two grippers
Baigunchekov Z. Laribi M.A. Mustafa A. Kassinov A.
September 2021MDPI AG
Robotics
2021#10Issue 3
In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three‐joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least‐square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.
Chebyshev and least‐square approximations , Kinematic synthesis and analysis , Parallel manipulator , RoboMech
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Department of Mechanics, Al–Farabi Kazakh National University, 71 Al–Farabi Ave., Almaty, 050040, Kazakhstan
Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty, 050013, Kazakhstan
Department GMSC, Institut PPRIME, CNRS, Université de Poitiers, ENSMA, UPR 3346, Poitiers, 86962, France
Department of Mechanics
Department of Mechanical Engineering and Modeling
Department GMSC
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