Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area

Abstract

AbstractThe subject of article is the kinematic and dynamic analysis of the parallel-sequential structure spatial mechanisms. The synthesis of a parallel-sequential structure mechanism for extended objects processing with kinematic chains made according to the l-coordinate scheme was carried out. Its analysis has been carried out. Kinematic and dynamic models of this mechanism have been developed. Mathematical models have been developed to study the kinematics and dynamics of a mechanism with an extended working area. The solution of the inverse problem on positions for this mechanism is given. This solution uses the classic coordinate transformation method. The final system of the constraints equations is obtained. The description of the methodology for solving the problem of velocities, which consists in differentiating the constraints equations (the Angeles-Gosselin method), is given. A system of implicit functions is presented. The solution of the problem of dynamics for a partial planar parallel structure mechanism with three kinematic chains is described. This solution was carried out using a control law that minimizes errors in speed, position, and acceleration. The mutual influence of drive motors on each other, as well as on the law of the executive link motion, is investigated. Full-scale and numerical experiments have been carried out on the developed models, and their results are presented. In a numerical experiment, a situation was simulated in which movement along one coordinate occurs according to a harmonic law, and no movement along the rest.KeywordsParallel-serial mechanismRobot with 5-DOFKinematic and dynamic analysisExtended working area