Larisa Rybak
ul. Kostyukova 46, Belgorod, 308012 Russia
Belgorod State Technological University named after V.G. Shukhov
Publications:
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Misyurin S. Y., Nosova N. Y., Kreinin G. V., Rybak L. A.
Singularity Analysis and Research on the Mechanism Workspace with Three Degrees of Freedom
2025, Vol. 21, no. 2, pp. 259-276
Abstract
This article discusses the mechanism of parallel structure, which includes hinged parallelograms.
These mechanisms have a certain peculiarity when composing kinematics equations,
consisting in the fact that some of the equations have a linear form. This simplifies the system
of coupling equations as a whole. By solving direct and inverse kinematics, we will determine
the size and shape of the working area. A method was chosen by solving the inverse kinematics
to determine the workspace. The size and shape of the working area of the mechanism under
consideration with three degrees of freedom are experimentally determined under given initial
conditions. The presence of a large working area allows us to recommend this mechanism for use
in various branches of robotics, medicine, simulators, etc. The Jacobian matrix of the coupling
equations of the mechanism is written out to determine the singularities.
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