Synthesis of l-coordinate Parallel Mechanism Without Singularities
Abstract
This article considers relevant topics related to the research and development of the new types of parallel manipulators. These devices move by linear drives located outside their working space. On the example of a novel parallel l-coordinate manipulation, the paper demonstrated some aspects of its singularity analysis and geometrical synthesis. The proposed method uses grapho-analytical techniques based on the direct kinematics solution, which has a closed-form solution for the presented mechanism. The approach studies the singularities concerning the spatial geometrical figures formed by the mechanism links. The analytical part of the method allows finding such geometrical parameters of the mechanist so that it will not have singularities in its working area. A numerical example demonstrates the implementation of the proposed approach.
In short
- Object: an l-coordinate parallel manipulator. Its linear drives sit outside the working space.
- Method: the direct kinematics of this mechanism has a closed-form solution. The paper uses it to relate singular configurations to spatial figures that the links form.
- Output: conditions on the geometric parameters, so that the working area contains no singularities.
- Check: one numerical example.
The paper is a geometric design method with a worked example. It is not a hardware study and it reports no measured performance numbers.
Cite as
@inproceedings{rashoyan2021synthesis,
title={Synthesis of l-coordinate Parallel Mechanism Without Singularities},
author={Rashoyan, Gagik and Maloyan, Narek and Antonov, Anton and Romanov, Andrey},
booktitle={Advances in Artificial Systems for Medicine and Education IV},
series={Advances in Intelligent Systems and Computing},
pages={270--282},
publisher={Springer},
year={2021},
doi={10.1007/978-3-030-67133-4_25}
}