Structural-parametric synthesis of the robomech class parallel mechanism with two sliders
Baigunchekov Z. Laribi M.A. Carbone G. Mustafa A. Amanov B. Zholdassov Y.
November-1 2021MDPI
Applied Sciences (Switzerland)
2021#11Issue 21
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.
Chebyshev and least-square approximations , Kinematic analysis , Parallel mechanism , RoboMech , Structural-parametric synthesis
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Department of Mechanics, Al–Farabi Kazakh National University, Almaty, 050040, Kazakhstan
Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty, 050013, Kazakhstan
Department GMSC, Institut PPRIME, Université de Poitiers, CNRS, ENSMA, UPR 3346, Poitiers, 86962, France
Department of Mechanical, Energy and Management Engineering, University of Calabria, Rende, 87036, Italy
Department of Mechanics
Department of Mechanical Engineering and Modeling
Department GMSC
Department of Mechanical
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