Abstract
Structural synthesis of various multi-circuit and multi-link mechanisms in a parallel structure appears to be one of the most complicated problems both in the theory of mechanisms and machines, and in the mechanical engineering for various robotics areas. The paper considers directed structural synthesis and analysis based on the universal L0-algorithm. Examples of its application are provided to create the relative manipulation mechanisms for group operations, multi-platform manipulators, anti-parallelogram and parallelogram tripod manipulators without special provisions and with the increased number of controlled degrees of freedom up to 12. Common properties of the entire family of articulated platform manipulators created at the invention level include the separate motion kinematics and the absence of harmful redundant connections in all the closed loops of flat and spatial synthesized mechanisms. Their performance and effectiveness were confirmed both experimentally and theoretically according to the new universal structural mobility formula.
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