Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate

E. S. Gebel; Гебель Е. С.; A. B. Lastochkin; Ласточкин А. Б.; A. A. Romanov; Романов А. А.; L. V.  Gavrilina; Гаврилина Л. В.; M. V. Glazunov; Глазунов М. В.

doi:10.31857/S0235711923030069

Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate

作者: Gebel E.¹, Lastochkin A.², Romanov A.², Gavrilina L.², Glazunov M.³
隶属关系:
1. Omsk State Technical University, 644050, Omsk, Russia
2. Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia
3. Kosygin State University of Russia, 119071, Moscow, Russia
期: 编号 3 (2023)
页面: 3-16
栏目: МЕХАНИКА МАШИН
URL: https://journals.rcsi.science/0235-7119/article/view/137581
DOI: https://doi.org/10.31857/S0235711923030069
EDN: https://elibrary.ru/PQGLQF
ID: 137581

如何引用文章

全文:

开放存取

##reader.subscriptionAccessGranted##
受限制的访问

订阅存取

详细
作者简介
参考
补充文件
统计

详细

The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration.

关键词

parallel structure mechanism, delta robot, position problem, accuracy analysis

作者简介

E. Gebel

Omsk State Technical University, 644050, Omsk, Russia

Email: griboedova04@mail.ru
Россия, Омск

A. Lastochkin

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

A. Romanov

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

L. Gavrilina

Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101900, Moscow, Russia

Email: griboedova04@mail.ru
Россия, Москва

M. Glazunov

Kosygin State University of Russia, 119071, Moscow, Russia

编辑信件的主要联系方式.
Email: griboedova04@mail.ru
Россия, Москва

参考

Ганиев Р.Ф. Проблемы механики машин и технологий. Перспективы развития Института машиноведения им. А.А. Благонравова РАН // Проблемы машиностроения и надежности машин. 2010. № 1. С. 3.
Ганиев Р.Ф. Проблемы механики машин и технологий. Перспективы развития Института машиноведения им. А.А. Благонравова РАН // Проблемы машиностроения и надежности машин. 2010. № 3. С. 3.
Хейло С.В., Ларюшкин П.А. Определение рабочей зоны манипуляторов параллельной структуры // Справочник. Инженерный журнал. 2013. № 2. С. 27.
Russo M., Ceccarelli M. Dynamics of a Humanoid Robot with Parallel Architectures // Advances in Mechanism and Machine Science. Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019. P. 1799.
Balchanowski J., Szrek J., Wudarczyk S. Analysis of constraint equations of the parallel mechanisms with 3 DoF in singular configurations // Advances in Mechanism and Machine Science. Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019. P. 607.
Harada T., Kunishige Y. Singularity Free Mode Changes of a Redundantly Driven Two Limbs Six-Dof Parallel Robot // ROMANSY 23 – Robot Design, Dynamics and Control, 2021. P. 405.
Гебель Е., Гаврилина Л., Глазунов В., Ласточкин А., Романов А., Духов А. К анализу сингулярных зон механизмов параллельной структуры с линейными двигателями // Станкоинструмент. 2021. № 3. С. 92.
Воробьев Е.И. Осуществление заданного относительного движения двух твердых тел двуруким роботом // Механика твердого тела. 2018. № 2. С. 122.
Едакина Т.В., Ласточкин А.Б., Гаврилина Л.В., Касилов В.П., Рамжаев В.С. Структурный анализ и построение рабочей зоны изоморфного поступательно-направляющего механизма параллельной структуры // Проблемы машиностроения и надежности машин. 2022. № 4. С. 6.
Tucan P., Gherman D., Andras Iu., Vaida C., Pisla D. Kinematic Modelling of a Parallel Robot Used in Single Incision Laparoscopic Surgery // CISM Int. Centre for Mechanical. 2022. V. 606. P. 115.
Lu Ya., Aoustin Ya., Arakelian V. Control Performance Improvement in Dynamically Decoupled Manipulators // CISM Int. Centre for Mechanical Sciences. 2022. V. 606. P. 199.
Guagliumi L., Berti A., Monti E., Carricato M. Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks // CISM Int. Centre for Mechanical Sciences. 2022. V. 606. P. 283.
Fomin A., Antonov A., Glazunov V. Forward Kinematic Analysis of a Rotary Hexapod // CISM Int. Centre for Mechanical Sciences. 2021. V. 601. 2021. P. 486.
Laryushkin P., Antonov A., Fomin A., Glazunov V. Inverse and Forward Kinematics of a Reconfigurable Spherical Parallel Mechanism with a Circular Rail // CISM Int. Centre for Mechanical Sciences. 2022. V. 606. P. 246.
Glazunov V.A., Orlov A.V., Skvortsov P.A. Rational Design of a Micro-positioner with Elastic Hinges // Mechanism and Machine Science (book series). 2022. V. 113 MMS. P. 22.
Clavel R. Delta, a Fast Robot with Parallel Geometry // Proc. of the 18th Int. Symposium on Industrial Robots, Sydney, Australia, 1988. P. 79.
Clavel R. Device for displacing and positioning an element in space // Brevet N WO 87/03528. Classification Internationale de brevets: B25J 17/02. 1987. P. 719.
Clavel R. Device for the Movement and Positioning of an Element in Space. US Patent No. 4,976,582, December 11, 1990.
Brinker J., Corves B. A Survey on Parallel Robots with Delta-like Architecture // The 14th IFToMM World Congress, Taipei, Taiwan, October 25–30, 2015. P. 407.