Abstract
The presented study provides a novel kinematic design of rotary positioner with single drive. The proposed mechanism includes six legs supporting a platform that reproduces different 3D trajectories. Kinematic design of the positioner has been developed as a combination of spatial chain with zero-DoF and a planar linkage with mobility one. Planar linkage is set within a fixed circular guide and serves as a movable base with six kinematic chains ending with carriages that are set under each leg. Motions of the rotary positioner’s platform are predefined and controlled by single rotational drive set in the center of the circular guide. Novel kinematic design allows changing trajectories of the platform by variation of only one link length in each kinematic chain of the base linkage. The developed mechanism can be used as a movable platform for spatial orientation of diverse objects, for carrying out cyclic tasks requiring motions on predefined trajectories, in constructions of shaking tables.
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Acknowledgments
The reported study has been funded by the Ministry of Education and Science of the Russian Federation according to the research project No. 9.12794.2018/12.2.
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Fomin, A., Glazunov, V. (2019). A Novel Rotary Positioner with Single Drive: Structural Analysis and Kinematic Design. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_42
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DOI: https://doi.org/10.1007/978-3-319-93188-3_42
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