Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments

A. V. Antonov; V. A. Glazunov; A. K. Aleshin; G. V. Rashoyan; M. M. Laktionova

doi:10.3103/S1052618818020036

Kinematic Analysis of a Parallel Structure Mechanism for Work in Extreme Environments

Authors: Antonov A.V.¹, Glazunov V.A.¹, Aleshin A.K.¹, Rashoyan G.V.¹, Laktionova M.M.¹
Affiliations:
1. Blagonravov Mechanical Engineering Research Institute
Issue: Vol 47, No 2 (2018)
Pages: 121-127
Section: Mechanics of Machines
URL: https://journals.rcsi.science/1052-6188/article/view/193787
DOI: https://doi.org/10.3103/S1052618818020036
ID: 193787

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Abstract

A parallel structure mechanism with six degrees of freedom designed to operate in extreme environments is considered. A technique for searching for an analytical solution of the inverse kinematics problem and the numerical solution of the direct kinematics problem for the given mechanism is presented. Examples of these problems solutions are considered. The operating area of the mechanism is defined. The obtained results are tested successfully at a test facility.