МЕТОДОЛОГИЯ БЛОЧНО-МОДУЛЬНОГО СТРУКТУРНОПАРАМЕТРИЧЕСКОГО СИНТЕЗА РЕГУЛИРУЕМЫХ ПАРАЛЛЕЛЬНЫХ МАНИПУЛЯЦИОННЫХ МЕХАНИЗМОВ
МАШИНОВЕДЕНИЕ
Keywords:
robotic mechanism, structural-parametric synthesis, approximation synthesis, adjustable dyad, parallel mechanism.
Abstract
A generalized methodology and a flowchart for the structural-parametric synthesis of adjustable parallel robotic mechanisms (APRM) are introduced to generate two and more given ordered sets of finitely separated positions of a rigid body object. As structural modules of APRM, we use adjustable two-link subchaines connecting the object (output link) with the frame. The modular structure of APRM allows to break up the compound process of their approximate parametric synthesis into the local synthesis procedures for dyad-modules which are implemented in parallel.
