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

Modelling, Design and Validation of a Parallel Kinematic Robot for Additive Manufacture Applications

The additive manufacture is a fabrication process that has taken huge steps in the last decade, even though the first researches and prototypes are around since almost forty years ago. In this article, a design method for a Parallel Kinematics Robot for Additive Manufacturing Applications is proposed. A numerical model is obtained from the kinematics of the robot for which the design, construction and assembly are planned using recycled materials and equipment. The control of the robot is done using open source software, allowing the planning of trajectories in the Cartesian space on a maximum designed cylindrical workspace of 300mm in diameter by 300mm high. At the end of the work the robot was identified, the kinematic model was validated and considerations for future works were given.

APPLICATION OF MECHATRONIC MODULES IN HEXAPODS TO AUTOMATION OF JOINTS ASSEMBLING

The paper deals with the advantages of using mechanisms with parallel kinematics for the assembly of interference fits. The analysis of applicability of various types of actuators in hexapods is carried out, their main advantages and disadvantages are revealed. The main features of the construction of mechatronic systems with electromechanical and electrohydraulic drives are considered, the analysis of energy transitions in each type of drive is carried out. Comparative assessments of the technical characteristics of the actuators are carried out: in terms of load capacity, accuracy and speed.

Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery

This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as a haptic interface for laparoscopic surgery. The proposed architecture is a result of an association of serial and parallel kinematics chains, with each one handling a part of the whole device DoF. The serial chain allows one to handle the translation and self-rotation and the parallel chain handles the two tilt motions, and this in a disjoint way as the natural gesture of the surgeon. The proposed hybrid-haptic device (HH device) benefits from the split DoF to ensure a good kinematic performance, large workspace, as well as gravity compensation. The kinematics study of the HH device is presented and followed by the optimal dimensional synthesis and the gravity compensation model.

Analysis of tilting table with parallel kinematics

The paper deals with the investigation of a workpiece moving unit with parallel kinematics. The subject of the study is the choice of the positions, installation location of actuator of the workpiece moving unit, table, how it affects the operation of the structure. This study is extremely important because the position of the actuators determines the functionality of the structure, i.e., we can predefine the position of the actuators so that the system can perform the desired movements. The possible installation locations of the actuators will be determined using combinatorics. Screw theory will be used to calculate the degree of freedom of the mechanism.