scholarly journals On the Parallel Kinematics of the FET Stretching Press in the Stretch Forming Operations in the Manufacture of Parts with Complex Spatial Geometry

2021 ◽  
Vol 14 (6) ◽  
pp. 735-745
Author(s):  
Anton A. Krivenok ◽  
◽  
Anatoly A. Burenin ◽  
◽  
◽  
...  
Keyword(s):  
Spatial Position ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Stretch Forming ◽  
Inverse Control ◽  
Spatial Geometry

The kinematics of a stretching press mechanism of a parallel structure are investigated. The kinematic dependences aimed at setting the spatial position of the working elements of a cross-stretching press of FET type, which allow positioning its jaws at any time during the technological operations, are obtained. The forward and inverse control kinematics problems of the jaw mechanism stretching press are solved

Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics

2019 ◽  
Vol 20 (7) ◽  
pp. 428-436
Author(s):  
A. K. Tolstosheev ◽  
V. A. Tatarintsev
Keyword(s):  
Structural Analysis ◽  
Hierarchical Structure ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Output Link ◽  
Parallel Connection ◽  
Kinematic Chains ◽  
Chain Increase

The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.

Sensitivity Analysis of an Overconstrained Parallel Structure Machine Tool, the Tripteor X7

2012 ◽  
Vol 162 ◽  
pp. 394-402 ◽  
Author(s):  
Helene Chanal ◽  
Flavien Paccot ◽  
Emmanuel Duc
Keyword(s):  
Sensitivity Analysis ◽  
Machine Tool ◽  
Geometrical Parameter ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Parallel Structure ◽  
Geometrical Parameters ◽  
Analytic Method ◽  
Parallel Kinematics ◽  
Geometrical Transformation

A main limitation of parallel kinematics machine tools (PKM) use for machining tasks is their accuracy low level mainly due to geometrical transformation errors. Indeed, such machine tools are geometrically controlled with an inverse kinematics model (IKM). For a large number of PKM, this IKM is defined with an analytic method and by introducing geometrical parameters. Thus, the influence of each geometrical parameter on the tool pose accuracy should be estimated via a sensitivity analysis. In the case of an overconstrained PKM, the IKM is generally computed with a numerical method. The sensitivity analysis leads to complex computation. The aim of this paper is to present a sensitivity analysis on the Tripteor X7, an overconstrained machine tool. This study is also a first step to define the geometrical identification method on this overconstrained mechanism.

scholarly journals STRUCTURAL ANALYSIS OF ROBOT MACHINE MECHANISMS WITH PARALLEL KINEMATICS

2017 ◽  
Vol 2017 (1) ◽  
pp. 33-43 ◽  
Author(s):  
Андрей Толстошеев ◽  
Andrey Tolstosheev ◽  
Вячеслав Татаринцев ◽  
Vyacheslav Tatarincev
Keyword(s):  
Structural Analysis ◽  
Critical Analysis ◽  
Structural Models ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Literary Sources ◽  
Closed Groups ◽  
Structural Formulae ◽  
The One ◽  
Definition Of

Robot machines with parallel kinematics belong to a new generation of machine-tools. The properties of these mechatronic machines are defined to a greater extent by a structure of their actuating lever mechanisms of a parallel structure (MPS). The purpose of this work is a development of the procedure for a structural analysis of MPS and the assessment of its efficiency. The following problems are under solution: a critical analysis of a problem state; a procedure development and check of its operational capability; a procedure application for certain structures of robot machines. By means of a critical analysis of literary sources there are emphasized three different approaches to the structural analysis of MPS: on the basis of the application of structural formulae, theory of closed groups of screws, test lists of mechanism functioning principles. All known procedures have a common drawback – onesided view upon a mechanism structure. A procedure for the structural analysis of MPS based on the presentation of the mechanism by a machine subsystem, on the one hand, and, on the other hand, - by a system with a hierarchical structure is developed. From a great number of known descriptions of mechanism structures there is formed a totality of structural models adapted to MPS different in the level of decomposition and a principle of formation. The algorithm of a structural analysis consists in the choice from this totality most suitable structural models for the synthesis and, accordingly, for the analysis of the mechanism under consideration and the fulfillment for them the following actions: a) system decomposition and the definition of the properties of components; b) system composition with the definition of mechanism properties as a whole. The authenticity of research results is confirmed by their adequate coincidence with known solutions obtained for existing mechanisms.

scholarly journals CONCEPT OF THE MULTYNOMENCLATURE RECONFIGURABLE MACHINE REPAIR CLUSTER

2018 ◽  
Vol 20 (4(69)) ◽  
pp. 91-100
Author(s):  
S.V. KOVALEVSKYI ◽  
O.S. KOVALEVSKA ◽  
V.M. OSIPOV
Keyword(s):  
Intelligent Control ◽  
High Performance ◽  
Spare Parts ◽  
Machine Building ◽  
Parallel Structure ◽  
Reconfigurable Manufacturing ◽  
Parallel Kinematics ◽  
Machine Repair ◽  
Intelligent Machines ◽  
Assembly Shop

Topicality. Ensuring reliable functioning of equipment and mechanisms by forming a machine-building cluster, which reduces the idle time as a result of the creation of flexible technological systems based on numerically controlled machine tools. The reliability of the functioning of production facilities created at the machine-building and processing enterprises is achieved not only by high-quality manufacturing, but also by the level of service, which is a continuous support of the working capacity of machines and mechanisms, based on the timely provision of spare parts and repair and maintenance products.Aim and tasks The purpose of the article is to search for innovative model of repair production, based on ensuring its flexibility through adaptive reconfiguration of technological equipment, focused on supporting the life cycle of the main production. Development of high-performance technologies, aimed at achieving advantages in the selected sectors of the economy.Research results. The conceptualization of the maintenance of the machine-repair function in the structure of the reconfigurable multi-cluster cluster, formed on the innovation platform of the machine-assembly shop on the basis of mobile intelligent machines with kinematics of a parallel structure, was realized. The gamma (dimensional series) of elements of the reconfigurable manufacturing system on the basis of mobile machines with parallel kinematics and intelligent control systems, which allows maintenance of a machine-repair cluster on the basis of reconfigurable productions, is developed. The proposed concept can be offered as a market product in the form of a gamut of mobile machines with intelligent control for different productions. The concept of reconfigurable multi-nomenclature production, based on a fundamentally new approach to layout, in particular, a mechanic-assembly shop of competitive production with the use of mobile intelligent machines with kinematics of a parallel structure, has been formed. The method of position identification, kinematic and dynamic parameters of mechanisms with the parallel kinematics structure, of which mobile machines are composed, is developed.Conclusions. The proposed ideology of the formation of the production structure of the cluster will ensure the consolidation of all types of capital: production, labor, financial, social and create conditions for the synergistic effect as a result of constructive interaction in the process of functioning of the BRMK.

Increasing the information capacity of a fiber-optic multi-sensor converter of binary mechanical signals into electrical signals

2020 ◽  
pp. 15-23
Author(s):  
V. M. Grechishnikov ◽  
E. G. Komarov
Keyword(s):  
Fiber Optic ◽  
Information Capacity ◽  
Parallel Structure ◽  
Optical Scheme ◽  
Digital To Analog Converter ◽  
Electrical Signals ◽  
Mechanical Signals ◽  
Analog Converter ◽  
Output Code ◽  
Digital To Analog

The design and operation principle of a multi-sensor Converter of binary mechanical signals into electrical signals based on a partitioned fiber-optic digital-to-analog Converter with a parallel structure is considered. The digital-to-analog Converter is made from a set of simple and technological (three to five digit) fiber-optic digital-to-analog sections. The advantages of the optical scheme of the proposed. Converter in terms of metrological and energy characteristics in comparison with single multi-bit converters are justified. It is shown that by increasing the number of digital-analog sections, it is possible to repeatedly increase the information capacity of a multi-sensor Converter without tightening the requirements for its manufacturing technology and element base. A mathematical model of the proposed Converter is developed that reflects the features of its operation in the mode of sequential time conversion of the input code vectors of individual fiber-optic sections into electrical analogues and the formation of the resulting output code vector.

A new Technique for Position Control of Induction Motor Using Adaptive Inverse Control

2010 ◽  
Vol 6 (2) ◽  
pp. 116-122
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Induction Motor ◽  
Position Control ◽  
New Technique ◽  
Adaptive Inverse Control ◽  
Inverse Control ◽  
A New Technique
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