Parallel manipulator of a class RoboMech for generation of horizontal trajectories family

  • Zh. Baigunchekov
  • M. Izmambetov
  • Zh. Zhumasheva
  • T. Baigunchekov
  • A. Mustafa
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper the methods of structural and dimensional synthesis of parallel manipulator of a class RoboMech for reproducing the series of horizontal trajectories are developed. This parallel manipulator is formed by connecting the output point to the base using two closing kinematic chains: one passive and one active ones. The synthesis parameters of the active closing kinematic chain of RPR type are determined on the basis of the least-square approximation.


Parallel manipulator RoboMech Structural and dimensional Synthesis 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Zh. Baigunchekov
    • 1
    • 2
  • M. Izmambetov
    • 2
  • Zh. Zhumasheva
    • 1
  • T. Baigunchekov
    • 1
  • A. Mustafa
    • 2
  1. 1.Al-Farabi Kazakh National UniversityAlmatyKazakhstan
  2. 2.Satbayev UniversityAlmatyKazakhstan

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