Abstract
In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints d = 1 and the mobility number λ = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and physical models of overconstrained robot manipulators are presented in the research.
Highlights
Structural synthesis is the first step in the design of new types of robot manipulators, mechanisms and structural formulas
The obtained results can be given as the following axioms as the decisions of the structural synthesized robot manipulators with general constraint one: Axiom 1: The distance between the intersection point of the joint axes |O1 O2 | of the robot manipulators which is created by the transformation of the geometrical figure sphere and sphere (SS), and S F remains constant during its motion (Figure 4)
The first- and second-class structural synthesis of robot manipulators which are constructed from geometrical transformations of the higher dyads (SS, S F ) are described
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Structural synthesis is the first step in the design of new types of robot manipulators, mechanisms and structural formulas. “Structural Synthesis of Euclidian platforms robot manipulators with variable general constraint” was investigated by Alizade, Can and Gezgin [17], in 2008. They designed serial, parallel and serial–parallel platform manipulators by using dyad, torus, universal and spherical kinematics pairs. “Structural Synthesis of Robot Manipulators by Using Screw with Variable Pitch” In this approach, new structural formulas and schemes of kinematic pairs were described for parallel Euclidian platform robot manipulators with fixed and variable general constraints. Robotics 2021, 10, 14 than in the system, it would be more useful to build and use an overconstrained robot manipulator for this purpose
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