A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism
This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/1/8 |
| _version_ | 1797476727699537920 |
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| author | Alexey Fomin Anton Antonov Victor Glazunov |
| author_facet | Alexey Fomin Anton Antonov Victor Glazunov |
| author_sort | Alexey Fomin |
| collection | DOAJ |
| description | This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm. |
| first_indexed | 2024-03-09T21:06:45Z |
| format | Article |
| id | doaj.art-07846e3a77074b1b9aa2f9fa8f8d7168 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T21:06:45Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-07846e3a77074b1b9aa2f9fa8f8d71682023-11-23T21:57:01ZengMDPI AGRobotics2218-65812022-01-01111810.3390/robotics11010008A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel MechanismAlexey Fomin0Anton Antonov1Victor Glazunov2Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaMechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaMechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, RussiaThis paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm.https://www.mdpi.com/2218-6581/11/1/8reconfigurable parallel mechanism (RPM)hexapodinverse kinematicsreconfiguration algorithmcircular guideMATLAB modeling |
| spellingShingle | Alexey Fomin Anton Antonov Victor Glazunov A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism Robotics reconfigurable parallel mechanism (RPM) hexapod inverse kinematics reconfiguration algorithm circular guide MATLAB modeling |
| title | A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism |
| title_full | A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism |
| title_fullStr | A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism |
| title_full_unstemmed | A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism |
| title_short | A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism |
| title_sort | reconfiguration algorithm for the single driven hexapod type parallel mechanism |
| topic | reconfigurable parallel mechanism (RPM) hexapod inverse kinematics reconfiguration algorithm circular guide MATLAB modeling |
| url | https://www.mdpi.com/2218-6581/11/1/8 |
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