Abstract
This paper presents the methods of structural-parametric synthesis of a parallel manipulator with three DOF (Degree of Freedom) working in a cylindrical coordinate system. This parallel manipulator belongs to the RoboMech class because it works under the setting laws of motions of the end-effector and actuators, which simplifies the control system and improves its dynamics. Parallel manipulators of a RoboMech class work with certain structural schemes and geometrical parameters of their links. The considered parallel manipulator is formed by connecting the output object to a base using one passive and two active closing kinematic chains. The geometrical parameters of their links are determined on the base of the least-square approximations.
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Baigunchekov, Z., Tarek, S., Patel, S., Mustafa, A. (2020). Structurally Parametric Synthesis of a RoboMech Class Parallel Manipulator with Three DOF. In: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_40
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DOI: https://doi.org/10.1007/978-3-030-48989-2_40
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