Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage
Апстракт
The mechanisms with parallel kinematics are applied to a significant extent in today's industry
because of the advantage over the mechanisms with serial kinematics. But the size and shape of
workspace as the main problem of parallel kinematic machine stands. The proposed mechanism has parallel kinematics and can achieve three degrees of freedom (DOF) with a moving platform. The considered mechanism is actuated with translation actuated joints and has three kinematic chains, which are the connection between the stationary base and the moving platform. The kinematic chains arrangement is set to allow the extension of one of the mechanism's horizontal axis. This means the proposed mechanism has one extended horizontal axis, meaning physical length is the only limitation. This characteristic is very important because of the shape and size of the workspace. The main characteristic of the proposed mechanism is the third kinematic chain, which is based on Chebyshev's mechanism and presents ...the passive translational rotary joint. Because of the mechanism complexity, it is necessary to simplify the kinematic model for further mathematical analysis.
Кључне речи:
parallel kinematics / extended axis / Chebyshev's mechanism / simplificationИзвор:
Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 2023, 35-40Издавач:
- University of Banja Luka, Faculty of Mechanical Engineering
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Напомена:
- For publisher: Full Prof. Aleksandar Milašinović, PhD Editor of chief: Full Prof. Petar Gvero, PhD Executive editor:Biljana Prochaska, PhD, Milivoj Stipanović, BsC
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Nešovanović, Ljubomir AU - Živanović, Saša PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6877 AB - The mechanisms with parallel kinematics are applied to a significant extent in today's industry because of the advantage over the mechanisms with serial kinematics. But the size and shape of workspace as the main problem of parallel kinematic machine stands. The proposed mechanism has parallel kinematics and can achieve three degrees of freedom (DOF) with a moving platform. The considered mechanism is actuated with translation actuated joints and has three kinematic chains, which are the connection between the stationary base and the moving platform. The kinematic chains arrangement is set to allow the extension of one of the mechanism's horizontal axis. This means the proposed mechanism has one extended horizontal axis, meaning physical length is the only limitation. This characteristic is very important because of the shape and size of the workspace. The main characteristic of the proposed mechanism is the third kinematic chain, which is based on Chebyshev's mechanism and presents the passive translational rotary joint. Because of the mechanism complexity, it is necessary to simplify the kinematic model for further mathematical analysis. PB - University of Banja Luka, Faculty of Mechanical Engineering C3 - Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023 T1 - Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage EP - 40 SP - 35 UR - https://hdl.handle.net/21.15107/rcub_machinery_6877 ER -
@conference{ author = "Nešovanović, Ljubomir and Živanović, Saša", year = "2023", abstract = "The mechanisms with parallel kinematics are applied to a significant extent in today's industry because of the advantage over the mechanisms with serial kinematics. But the size and shape of workspace as the main problem of parallel kinematic machine stands. The proposed mechanism has parallel kinematics and can achieve three degrees of freedom (DOF) with a moving platform. The considered mechanism is actuated with translation actuated joints and has three kinematic chains, which are the connection between the stationary base and the moving platform. The kinematic chains arrangement is set to allow the extension of one of the mechanism's horizontal axis. This means the proposed mechanism has one extended horizontal axis, meaning physical length is the only limitation. This characteristic is very important because of the shape and size of the workspace. The main characteristic of the proposed mechanism is the third kinematic chain, which is based on Chebyshev's mechanism and presents the passive translational rotary joint. Because of the mechanism complexity, it is necessary to simplify the kinematic model for further mathematical analysis.", publisher = "University of Banja Luka, Faculty of Mechanical Engineering", journal = "Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023", title = "Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage", pages = "40-35", url = "https://hdl.handle.net/21.15107/rcub_machinery_6877" }
Nešovanović, L.,& Živanović, S.. (2023). Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023 University of Banja Luka, Faculty of Mechanical Engineering., 35-40. https://hdl.handle.net/21.15107/rcub_machinery_6877
Nešovanović L, Živanović S. Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023. 2023;:35-40. https://hdl.handle.net/21.15107/rcub_machinery_6877 .
Nešovanović, Ljubomir, Živanović, Saša, "Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023 (2023):35-40, https://hdl.handle.net/21.15107/rcub_machinery_6877 .