Theory and application of structural synthesis of the new lever mechanisms with the multiple cylinder joints for different technology areas

Structural synthesis of various mechanisms is the first stage in creating reliable and efficient designs of mechanisms and mechanical drives for operation in different areas of the mechanical engineering. On the one hand, structural synthesis of various mobile mechanical systems is the most complex and problematic stage in their design due to the unknown and large number (tens of thousands) of possible structural solutions, and on the other hand, it is the most important stage that determines functional characteristics and service life of the created mechanisms. The paper presents examples of creating the non-redundant mechanisms based on the structural mathematical model integer solutions of all possible multi-loop mechanisms with complex hinges of different multiplicity. Structural synthesis and substantiation of the combined cylindrical hinges effectiveness were performed in creation of new flat and spatial structures of the multi-link mechanical devices with a different number of degrees of freedom, made in the form of multilateral robot gripper, lifting mechanism, articulated lever manipulators and mobile mechanical system of the active seismic building protection.

References

[1] Artobolevskiy I.I. Mekhanizmy v sovremennoy tekhnike [Mechanisms in modern technics]. Moscow, LENAND Publ., 2019. 500 p. (In Russ.).

[2] Glazunov V.A., ed. Novye mekhanizmy v sovremennoy robototekhnike [New mechanisms in modern robotics]. Moscow, Tekhnosfera Publ., 2018. 316 p. (In Russ.).

[3] Mudrov A.G., Mudrova A.A., Sakhapov R.L. Prostranstvennye apparaty s meshalkoy i smesiteli [Spatial apparatus with agitators and mixers]. Moscow, KnoRus Publ., 2021. 190 p. (In Russ.).

[4] Markovets K.I., Polotebnov V.O.  Synthesis of mechanisms of material handling mechanism with a toothed bar straight line section of the movement. Izvestiya vysshikh uchebnykh zavedeniy. Tekhnologiya legkoy promyshlennosti [The News of Higher Educational Institutions. Technology of Light Industry], 2018, vol. 39, no. 1, pp. 117–121. (In Russ.).

[5] Briskin E.S., Belyaev K.V. [Vosminog-M walking machine]. Progress transportnykh sredstv i sistem — 2005. Mat. mezhd. nauch.-prakt. konf. [Progress of Vehicles and Transport Systems — 2005. Proc. Int. Sci.-Pract. Conf.]. Volgograd, VolGTU Publ., 2005, pp. 611–612. (In Russ.).

[6] Ceccarelli M. Fundamentals of mechanics of robotic manipulation. Springer, 2004. 312 p.

[7] Li G., Miao Z., Li B. et al. Type synthesis to design variable camber mechanisms. Adv. Mech. Eng., 2016, vol. 8, no. 8, doi: https://doi.org/10.1177/1687814016666003

[8] Peisakh E.E. Technique of automated structural synthesis of planar jointed mechanisms. J. Mach. Manuf. Reliab., 2009, vol. 38, no. 1, pp. 62–70, doi: https://doi.org/10.3103/S1052618809010129

[9] Zou Y., He P., Pei Y. Automatic topological structural synthesis algorithm of planar simple kinematic chains. Adv. Mech. Eng., 2016, vol. 8, no. 3, doi: https://doi.org/10.1177/1687814016638055

[10] Hwang W.M., Hwang Y.W. Computer-aided structural synthesis of planar kinematic chains with simple joints. Mech. Mach. Theory, 1992, vol. 27, no. 2, pp. 189–199, doi: https://doi.org/10.1016/0094-114X(92)90008-6

[11] Sun W., Kong J., Sun L. A joint-joint matrix representation of planar kinematic chains with multiple joints and isomorphism identification. Adv. Mech. Eng., 2018, vol. 10, no. 6, doi: https://doi.org/10.1177/1687814018778404

[12] Hasan A. Study of multiple jointed kinematic chains. IJCER, 2018, vol. 8, no. 1, pp. 13–19.

[13] Ding H.F., Hou F.M., Kecskemethy A. Synthesis of the whole family of 1-DOF kinematic chains. Mech. Mach. Theory, 2012, vol. 47 no. 1, pp. 1–15, doi: https://doi.org/10.1016/j.mechmachtheory.2011.08.011

[14] Norton R.L. Design in machinery. McGraw Hill, 2019. 896 p.

[15] Muller A. Kinematic topology and constraints of multi-loop linkages. Robotica, 2018, vol. 36, no. 11, pp. 1641–1663, doi: https://doi.org/10.1017/S0263574718000619

[16] Talaba D. Mechanical models and the mobility of robots and mechanisms. Robotica, 2015, vol. 33, no. 1, pp. 181–193, doi: https://doi.org/10.1017/S0263574714000149

[17] Babichev D., Evgrafov A., Lebedev S. Lever mechanisms: the new approach to structural synthesis and kinematic analysis. IFToMM WC-2019. Springer, 2019, pp. 1030–1050, doi: https://doi.org/10.1007/978-3-030-20131-9_56

[18] Evgrafov A.N., Petrov G.N. Computer simulation of mechanisms. In: Advances in mechanical engineering. Springer, 2017, pp. 45–56, doi: https://doi.org/10.1007/978-3-319-53363-6_6

[19] Pozhbelko V., Ermoshina E. Number structural synthesis and enumeration process of all possible sets of multiple joints of 1-DOF up to 5-loop 12-link mechanisms on base of new mobility equation. Mech. Mach. Theory, 2015, vol. 90, pp. 108–127, doi: https://doi.org/10.1016/j.mechmachtheory.2015.03.006

[20] Pozhbelko V. A unified structure theory of multibody open, closed loop and mixed mechanical systems with simple and multiple joint kinematic chains. Mech. Mach. Theory, 2016, vol. 100, no. 6, pp. 1–16, doi: https://doi.org/10.1016/j.mechmachtheory.2016.01.001

[21] Pozhbelko V.I. Edinaya teoriya struktury mekhanicheskikh system [Unified theory of the structure of mechanical systems]. V: Metody resheniya zadach sinteza mekhanizmov [Methods of solving problems of mechanism synthesis]. Chelyabinsk, ChGTU Publ., 1993, pp. 19–56. (In Russ.).

[22] Assur L.V. Issledovanie ploskikh sterzhnevykh mekhanizmov s nizshimi parami s tochki zreniya ikh struktury i klassifikatsii [Study of flat bar mechanisms with inferior pairs in terms of their structure and classification]. Moscow, Izd-vo AN SSSR Publ., 1952. 592 p. (In Russ.).

[23] Kozhevnikov S.N. Osnovaniya strukturnogo sinteza mekhanizmov [Fundamentals of structural synthesis of mechanisms]. Kiev, Naukova dumka Publ., 1979. 232 p. (In Russ.).

[24] Reshetov L.N. Samoustanavlivayushchiesya mekhanizmy [Self-aligning mechanisms]. Moscow, Mashinostroenie Publ., 1979. 334 p. (In Russ.).

[25] Kraynev A.F. Mekhanika mashin [Machine mechanics]. Moscow, Mashinostroenie Publ., 2001. 904 p. (In Russ.).

[26] Umnov N.V., Silvestrov E.E. [Using homotopy methods for mechanism synthesis.]. St. dok. mezhd. konf. po teorii mekhanizmov i mashin [Proc. Int. Conf. on. Mechanisms and Machine Theory]. Krasnodar, Kubanskiy GTU Publ., 2006, pp. 47–48. (In Russ.).

[27] Romantsev A.A. To the question of creating structural schemes of flat articulated groups of links. Teoriya mekhanizmov i mashin [Theory of Mechanisms and Machines], 2014, vol. 12, no. 1, pp. 81–90. (In Russ.).

[28] Nesmeyanov I.A., Gerasun V.M., Dyashkin-Titov V.V. [Structural and geometrical synthesis of a tripod manipulator with kinematic pairs of class 5]. Agrarnaya nauka - osnova uspeshnogo razvitiya APK i sokhraneniya ekosistem. Mat. mezhd. nauch.-prakt. konf. T. 3 [Agrarian Science - Basis of Successful Development of Agroindustrial Complex and Preservation of Ecosystem. Proc. Int. Sci.-Pract. Conf. Vol. 3]. Volgograd, Volgogradskiy GAU Publ., 2012, pp. 236–240. (In Russ.).

[29] Peysakh E.E. Klassifikatsiya ploskikh grupp Assura [Classification of flat Assur groups]. V: Akademik Ivan Ivanovich Artobolevskiy [Academician Ivan Ivanovich Artobolevskiy]. Moscow, Nauka Publ., 2007, pp. 147–160. (In Russ.).

[30] Peysakh E.E. Atlas of structural schemes of eight-link planar articulated mechanisms. Teoriya mekhanizmov i mashin [Theory of Mechanisms and Machines], 2006, vol. 4, no. 1, pp. 3–17. (In Russ.).

[31] Dvornikov L.T. Experience of structural synthesis of mechanisms. Teoriya mekhanizmov i mashin [Theory of Mechanisms and Machines], 2004, vol. 2, no. 2, pp. 3–17. (In Russ.).

[32] Smelyagin A.I. Struktura mashin, mekhanizmov i konstruktsiy [Structure of machines, mechanisms and constructions. Moscow, Infra-M Publ., 2019. 387 p. (In Russ.).

[33] Peysakh E.E. On the structural synthesis of lever mechanisms (comments on the article by L.T. Dvornikov Experience of structural synthesis of mechanisms. Theory of Mechanisms and Machines, 2004, no. 2(4)). Teoriya mekhanizmov i mashin [Theory of Mechanisms and Machines], 2005, vol. 3, no. 1, pp. 77–80. (In Russ.).

[34] Peysakh E.E. To the discussion on the problem of structural synthesis of planar articulated mechanism. Teoriya mekhanizmov i mashin [Theory of Mechanisms and Machines], 2006, vol. 4, no. 1, pp. 49–54. (In Russ.).

[35] Kolovskiy M.Z., Evgrafov A.N., Semenov Yu.A. et al. Teoriya mekhanizmov i mashin [Theory of mechanisms and machines]. Moscow, Akademiya Publ., 2006. 560 p. (In Russ.).

[36] Frolov K.V., ed. Teoriya mekhanizmov i mekhanika mashin [Theory of mechanisms and mechanics of machines]. Moscow, Bauman MSTU Publ., 2004. 664 p. (In Russ.).

[37] Kun S., Gosselin K. Strukturnyy sintez parallelnykh mekhanizmov [Structural synthesis of parallel mechanisms]. Moscow, Fizmatlit, 2012. 275 p. (In Russ.).

[38] Pozhbelko V.I., Livshits V.A. Teoriya mekhanizmov i mashin v voprosakh i otvetakh [Theory of mechanisms and machines in questions and answer]. Chelyabinsk, Izd-vo YuUrgU, 2004. 439 p. (In Russ.).

[39] Kutz E.N., Pozhbelko V.I. [A new structural synthesis method of multiloop linkages with multiple joints]. Sovremennoe mashinostroenie. Nauka i obrazovanie. Mat. 12-oy Mezhd. nauch.-prakt. konf. [Modern Mechanical Engineering: Science and Education. Proc. 12th Sci.-Pract. Conf.]. Sankt-Petersburg, Politekh-Press Publ., 2022, pp. 91–100. (In Russ.).

[40] Pozhbelko V.I., Kuts E.N. Integer structural synthesis of multiloop lever mechanisms with multiple joints for different areas of mechanical engineering. Izvestiya vysshikh uchebnykh zavedeniy. Mashinostroenie [BMSTU Journal of Mechanical Engineering], 2021, no. 6, pp. 23–36, doi: http://dx.doi.org/10.18698/0536-1044-2021-6-23-36 (in Russ.).

[41] Kuts E.N. [Modern mechanical engineering: science and education structural synthesis of multiloop linkage mechanisms with multiple joints and the most complex binary link]. Sovremennoe mashinostroenie. Nauka i obrazovanie. Mat. 8-oy Mezhd. nauch.-prakt. konf. [Modern Mechanical Engineering: Science and Education. Proc. 8th Sci.-Pract. Conf.]. Sankt-Petersburg, Politekh-Press Publ., 2019, pp. 201–214. (In Russ.).

[42] Kuts E.N. Sharnirnyy gruzopodemnyy manipulyator [Hinged load lifting manipulator]. Patent RU 2728850. Appl. 08.10.2019, publ. 31.07.2020. (In Russ.).

[43] Pozhbelko V.I., Kuts E.N. Sharnirnoe zazhimnoe ustroystvo [Hinged clamping device]. Patent RU 2729690. Appl. 19.11.2019, publ. 11.08.2020. (In Russ.).

[44] Pozhbelko V.I., Kuts E.N. Podvizhnaya mekhanicheskaya sistema seysmozashchity zdaniy [Movable mechanical seismic protection system of a building]. Patent RU 2742677. Appl. 08.06.2020, publ. 19.02.2021. (In Russ.).

[45] Pozhbelko V.I., Kuts E.N. Platformennyy mekhanizm [Platform mechanism]. Patent RU 2737249. Appl. 04.12.2019, publ. 26.11.2020. (In Russ.).

[46] Pozhbelko V.I. Parallelnyy manipulyator s tremya stepenyami svobody [Parallel manipulator with three degrees of freedom]. Patent RU 2753217. Appl. 08.12.2020, publ. 12.08.2021.