Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions o...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/6/117 |
| _version_ | 1797530323095912448 |
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| author | Alexey Fomin Anton Antonov Victor Glazunov Giuseppe Carbone |
| author_facet | Alexey Fomin Anton Antonov Victor Glazunov Giuseppe Carbone |
| author_sort | Alexey Fomin |
| collection | DOAJ |
| description | The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configuration to reproduce these trajectories. After describing the mechanism, the paper examines kinematic relations representing the basis for the subsequent synthesis algorithm. Next, the obtained expressions are extended and provide a system of equations to be solved. The structure of this equation system allows it to be solved effectively by numerical methods, which is demonstrated with an example. The proposed algorithm of dimensional synthesis does not require solving the optimization problems, in contrast to the familiar methods of dimensional synthesis of parallel mechanisms. Further, the suggested approach to the synthesis problem allows finding solution in a fast and computationally efficient manner. |
| first_indexed | 2024-03-10T10:27:23Z |
| format | Article |
| id | doaj.art-7602a13c6f034bbf99906c1120fa6852 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T10:27:23Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-7602a13c6f034bbf99906c1120fa68522023-11-21T23:53:44ZengMDPI AGMachines2075-17022021-06-019611710.3390/machines9060117Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable DesignAlexey Fomin0Anton Antonov1Victor Glazunov2Giuseppe Carbone3Mechanisms 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, RussiaDepartment of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, ItalyThe study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configuration to reproduce these trajectories. After describing the mechanism, the paper examines kinematic relations representing the basis for the subsequent synthesis algorithm. Next, the obtained expressions are extended and provide a system of equations to be solved. The structure of this equation system allows it to be solved effectively by numerical methods, which is demonstrated with an example. The proposed algorithm of dimensional synthesis does not require solving the optimization problems, in contrast to the familiar methods of dimensional synthesis of parallel mechanisms. Further, the suggested approach to the synthesis problem allows finding solution in a fast and computationally efficient manner.https://www.mdpi.com/2075-1702/9/6/117reconfigurable parallel mechanism (RPM)degree-of-freedom (DOF)dimensional (parametric) synthesiskinematic analysis |
| spellingShingle | Alexey Fomin Anton Antonov Victor Glazunov Giuseppe Carbone Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design Machines reconfigurable parallel mechanism (RPM) degree-of-freedom (DOF) dimensional (parametric) synthesis kinematic analysis |
| title | Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design |
| title_full | Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design |
| title_fullStr | Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design |
| title_full_unstemmed | Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design |
| title_short | Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design |
| title_sort | dimensional parametric synthesis of the hexapod type parallel mechanism with reconfigurable design |
| topic | reconfigurable parallel mechanism (RPM) degree-of-freedom (DOF) dimensional (parametric) synthesis kinematic analysis |
| url | https://www.mdpi.com/2075-1702/9/6/117 |
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