Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the i...

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Autores principales:	Zhumadil Baigunchekov, Med Amine Laribi, Giuseppe Carbone, Azamat Mustafa, Bekzat Amanov, Yernar Zholdassov
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	parallel mechanism RoboMech structural-parametric synthesis Chebyshev and least-square approximations kinematic analysis Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/2bd362bb9f6c4d5090f2b6efbb66d997
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spelling	oai:doaj.org-article:2bd362bb9f6c4d5090f2b6efbb66d9972021-11-11T14:58:21ZStructural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders10.3390/app112198312076-3417https://doaj.org/article/2bd362bb9f6c4d5090f2b6efbb66d9972021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/9831https://doaj.org/toc/2076-3417This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outlines a possible application of the proposed approach to design a PM for a cold stamping technological line. The proposed PM is formed by connecting two sliders (input and output objects) using one passive and one negative closing kinematic chain (CKC). The passive CKC does not impose a geometric constraint on the movements of the sliders and the geometric parameters of its links are varied to satisfy the geometric constraint of the negative CKC. The negative CKC imposes one geometric constraint on the movements of the sliders and its geometric parameters are determined on the basis of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the considered PM are solved to demonstrate the feasibility and effectiveness of the proposed formulations and case of study.Zhumadil BaigunchekovMed Amine LaribiGiuseppe CarboneAzamat MustafaBekzat AmanovYernar ZholdassovMDPI AGarticleparallel mechanismRoboMechstructural-parametric synthesisChebyshev and least-square approximationskinematic analysisTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 9831, p 9831 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	parallel mechanism RoboMech structural-parametric synthesis Chebyshev and least-square approximations kinematic analysis Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	parallel mechanism RoboMech structural-parametric synthesis Chebyshev and least-square approximations kinematic analysis Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Zhumadil Baigunchekov Med Amine Laribi Giuseppe Carbone Azamat Mustafa Bekzat Amanov Yernar Zholdassov Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
description	This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outlines a possible application of the proposed approach to design a PM for a cold stamping technological line. The proposed PM is formed by connecting two sliders (input and output objects) using one passive and one negative closing kinematic chain (CKC). The passive CKC does not impose a geometric constraint on the movements of the sliders and the geometric parameters of its links are varied to satisfy the geometric constraint of the negative CKC. The negative CKC imposes one geometric constraint on the movements of the sliders and its geometric parameters are determined on the basis of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the considered PM are solved to demonstrate the feasibility and effectiveness of the proposed formulations and case of study.
format	article
author	Zhumadil Baigunchekov Med Amine Laribi Giuseppe Carbone Azamat Mustafa Bekzat Amanov Yernar Zholdassov
author_facet	Zhumadil Baigunchekov Med Amine Laribi Giuseppe Carbone Azamat Mustafa Bekzat Amanov Yernar Zholdassov
author_sort	Zhumadil Baigunchekov
title	Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
title_short	Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
title_full	Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
title_fullStr	Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
title_full_unstemmed	Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
title_sort	structural-parametric synthesis of the robomech class parallel mechanism with two sliders
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/2bd362bb9f6c4d5090f2b6efbb66d997
work_keys_str_mv	AT zhumadilbaigunchekov structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders AT medaminelaribi structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders AT giuseppecarbone structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders AT azamatmustafa structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders AT bekzatamanov structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders AT yernarzholdassov structuralparametricsynthesisoftherobomechclassparallelmechanismwithtwosliders
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Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

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