Structural–Parametric Synthesis of Path-Generating Mechanisms and Manipulators †
Baigunchekov Z. Laribi M.A. Carbone G. Wang X. Li Q. Zhang D. Kaiyrov R. Zhumasheva Z. Sagitzhanov B.
October 2024Multidisciplinary Digital Publishing Institute (MDPI)
Robotics
2024#13Issue 10
This paper presents a structural–parametric synthesis of the four-link and Stephenson I, Stephenson II, and Stephenson III six-link path-generating mechanisms. The four-link path-generating mechanism is formed by connecting the output point and the base using an active closing kinematic chain (CKC) with two DOFs and a negative CKC of the type RR. The six-link path-generating mechanisms are formed by connecting the output point and the base by active, passive and negative CKCs. Active CKC has active kinematic pair, passive CKC has zero DOF, and negative CKC has a negative DOF. Active and negative CKCs impose geometrical constraints on the movement of the output point, and the geometric parameters of their links are determined by least-square approximation. Geometric parameters of the passive CKC are varied to satisfy the geometrical constraints of the active and negative CKCs. The CKCs of the active, passive and negative types, connecting the output point and the base, are the structural modules from which the different types of the path-generating mechanisms are synthesized. Numerical examples of the parametric synthesis of the four-link and six-link path-generating mechanisms are presented.
least-square approximation , path-generating mechanisms , structural–parametric synthesis
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Department of Mechanics, Al-Farabi Kazakh National University, Almaty, 050040, Kazakhstan
Department of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, 86073, France
Department of Mechanical, Energy and Management Engineering, University of Calabria, Via Bucci Cubo 45C, Rende, 87036, Italy
Institute of Automation, Shandong Academy of Sciences, Jinan, 250103, China
Laboratory of Applied Mechanics and Robotics, Karaganda Buketov University, Karaganda, 100001, Kazakhstan
Department of Mechanics
Department of GMSC
Department of Mechanical
Institute of Automation
Laboratory of Applied Mechanics and Robotics
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