Kinematics loading manipulators of the parallel-to-serial structure based on a tripod

Abstract

Design features of manipulators of a parallel-serial structure based on a tripod are considered. kinematic diagram of a manipulator-tripod on a rotary base is presented, consisting of two series-connected manipulators - a manipulator-tripod of a parallel structure and a manipulator of a serial structure, and its configuration is considered, which is determined by solving an optimization problem from the condition of a minimum criterion of generalized energy. The sequential manipulator acts as a gripper. The number of degrees of freedom of the manipulator is seven. As actuating links, links with electric DC drive (actuators) are used. All actuators are equipped with an integrated analog displacement sensor. In the structure of the manipulator, the axes of the drive links of linear movement geometrically converge at one point by means of a spherical five-movable hinge assembly, which eliminates the appearance of bending moments in them from external loads from the side of the gripping device. The results of the implementation of the algorithm for constructing the service area of a manipulator of a parallel-sequential structure with a grip are presented.