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Development of parallel-structure mechanisms with four degrees of freedom and four kinematic chains

  • Mechanics of Machines
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Abstract

Parallel-structure mechanisms with four degrees of freedom and four kinematic chains are discussed. The synthesis of these manipulators were performed using a device of closed screw groups. This approach allows avoiding complex equations of synthesis and analysis of singularities. Kinematic chains may impose equal constraints or different constraints, and each may contain a drive. The main result of this article is the synthesis of a new parallel-structure mechanism and a screw analysis of constraints imposed by the kinematic chains.

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Authors and Affiliations

  1. Blagonravov Institute of Machine Science, Russian Academy of Sciences, Moscow, 101990, Russia

    V. A. Glazunov & V. A. Borisov

Authors
  1. V. A. Glazunov
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  2. V. A. Borisov
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Correspondence to V. A. Glazunov.

Additional information

Original Russian Text © V.A. Glazunov, V.A. Borisov, 2017, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2017, No. 5, pp. 3–12.

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Glazunov, V.A., Borisov, V.A. Development of parallel-structure mechanisms with four degrees of freedom and four kinematic chains. J. Mach. Manuf. Reliab. 46, 417–425 (2017). https://doi.org/10.3103/S1052618817050065

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  • DOI: https://doi.org/10.3103/S1052618817050065

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