Autors: Bratovanov, N. G., Sotirov, Z. M., Zamanov, V. B.
Title: Mobility and Accuracy Analysis of a Class of Overconstrained Parallel Mechanisms
Keywords: overconstrained closed-loop mechanisms, parallel manipulator

Abstract: The paper contributes to the mechanics of a class of overconstrained parallel manipulators. It presents an analytical approach to studying the mobility and accuracy of a special type of parallel manipulator, which has found broad industrial application in semiconductor automation. This is a three-degree-of-freedom closed loop mechanism, which exhibits local mobility in close vicinity of specific (singular) configurations. A distinctive feature of this mechanism when in a specific singular configuration is its ability to “use” the inherent elasticity and backlash of its components in order to perform finite small rotations, instead of using additional kinematic joints. The paper provides a formal description of the motion of the mechanism and its accuracy characteristics by analyzing the equations of constraints imposed on its links. The theoretical results are validated by computer simulations and 3D modeling with SolidWorks.

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Issue

Mechanics of Machines, issue 2, pp. 26-32, 2018, Bulgaria, ISSN 0861-9727

Full text of the publication

Вид: публикация в национален форум, публикация в реферирано издание