Abstract
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configuration to reproduce these trajectories. After describing the mechanism, the paper examines kinematic relations representing the basis for the subsequent synthesis algorithm. Next, the obtained expressions are extended and provide a system of equations to be solved. The structure of this equation system allows it to be solved effectively by numerical methods, which is demonstrated with an example. The proposed algorithm of dimensional synthesis does not require solving the optimization problems, in contrast to the familiar methods of dimensional synthesis of parallel mechanisms. Further, the suggested approach to the synthesis problem allows finding solution in a fast and computationally efficient manner.
Highlights
Dimensional synthesis is one of the basic procedures in mechanisms design
Studies [3,4,5,6,7] consider the issues of the dimensional synthesis for the mechanisms with several degrees-of-freedom (DOFs), and the algorithms for determining their geometrical parameters are usually based on solving optimization problems
The current study focuses on an algorithm for the dimensional synthesis of a reconfigurable parallel mechanism with a single drive
Summary
Dimensional (parametric) synthesis is one of the basic procedures in mechanisms design. Studies [11,12] present the multi-objective optimization problems demonstrated on the 4-DOF mechanisms with Schönflies motion These problems aim at maximizing the workspace and positioning accuracy. Paper [23] presents another methodological procedure of dimensional synthesis for both parallel and serial mechanisms This procedure is a multi-objective optimization problem that considers workspace dimensions, Jacobian matrices, and compliant displacements as design criteria. The current study focuses on an algorithm for the dimensional synthesis of a reconfigurable parallel mechanism with a single drive Such mechanisms can change their configurations to vary the motion laws of the output links or the dimensions of their workspaces [24,25,26,27]. The advantage of the proposed approach is in using simple kinematic relations and, in contrast to the methodologies discussed above, that it does not require solving any optimization problems
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