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A Review of the Parallel Structure Mechanisms with Kinematic Decoupling

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Advanced Technologies in Robotics and Intelligent Systems

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 80))

Abstract

This paper presents some results of the kinematic decoupling development of translational and rotational motions in the mechanisms of parallel structure. Most of the mechanisms have complex associated kinematic characteristics when translational motion can be kinematically related to rotational motion and vice versa. Therefore, the kinematical and mathematical models of the mechanism are complex and as a result it is difficult to control. The mechanisms with kinematic decoupled are those in which some actuators control a few pose parameters, for example, the position of the platform, while the remaining actuators control the rest of pose parameters, for example the orientation. This fact makes one of the actual tasks in the study of the spatial mechanisms of the parallel structure to identify the possibility of the implementation of the kinematic decoupling that simplifies the calculation of the mechanisms and is an advantage over the calculation of similar mechanisms without kinematic decoupling.

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Acknowledgements

The research was supported by Russian Foundation for Basic Research, project No. 18-29-10072 mk (Optimization of nonlinear dynamic models of robotic drive systems taking into account forces of resistance of various nature, including frictional forces).

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Authors and Affiliations

  1. Blagonravov Mechanical Engineering Research Institute of the Russian Academy of Sciences (MERI of RAN), 4 Mal. Kharitonyevskiy Pereulok, 101990, Moscow, Russia

    N. Yu. Nosova

  2. National Research Nuclear University MEPhI (Moscow Engineering Physics Institute) (MEPhI), 31 Kashirskoe Shosse, 115409, Moscow, Russia

    N. Yu. Nosova

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  1. N. Yu. Nosova
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Correspondence to N. Yu. Nosova .

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Editors and Affiliations

  1. Institute of Cyber Intelligence Systems, National Research Nuclear University MEPhI, Moscow, Russia

    Sergey Yu. Misyurin

  2. LS2N, Institut National des Sciences Appliquées, Rennes, France

    Vigen Arakelian

  3. Institute for System Programming, Russian Academy of Sciences, Moscow, Russia

    Arutyun I. Avetisyan

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Nosova, N.Y. (2020). A Review of the Parallel Structure Mechanisms with Kinematic Decoupling. In: Misyurin, S., Arakelian, V., Avetisyan, A. (eds) Advanced Technologies in Robotics and Intelligent Systems. Mechanisms and Machine Science, vol 80. Springer, Cham. https://doi.org/10.1007/978-3-030-33491-8_30

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