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Design and Analysis of a Mechanism for Spherical Surface Processing

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Robotics and Mechatronics (ISRM 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 78))

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Abstract

The proposed study presents a new single-driven mechanism for processing (polishing) of spherical surfaces. The fixed link in this mechanism connects with three movable links: in addition to the driving link and the output rocker, this mechanism is equipped with an additional swinging arm set to increase the rigidity of the whole system. The developed mechanism allows reproducing screw curves lying on a spherical surface. Kinematic analysis of the developed mechanism has been carried out and the spatial trajectories of its end-effector have been identified. Certain links in the mechanism are made as sliding, i.e. with variable lengths. Such design allows getting different trajectories of the end-effector at a permanent structure of the entire mechanism.

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Acknowledgments

The reported study was funded by RFBR according to the research project â„– 18-31-00440.

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Authors and Affiliations

  1. Siberian State Industrial University, Novokuznetsk, 654007, Russia

    Alexey Fomin & Wsevolod Ivanov

  2. Mechanical Engineering Research Institute of the RAS, Moscow, 101990, Russia

    Alexey Fomin & Victor Glazunov

Authors
  1. Alexey Fomin
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  2. Wsevolod Ivanov
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  3. Victor Glazunov
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Corresponding author

Correspondence to Alexey Fomin .

Editor information

Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Guan-Chen Chen

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Fomin, A., Ivanov, W., Glazunov, V. (2020). Design and Analysis of a Mechanism for Spherical Surface Processing. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_4

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