Study of a hybrid manipulator with five degrees of freedom for the technological operations

The paper presents a solution to the problem of structural and kinematic analysis of a new hybrid manipulator consisting of the three-motion flat mechanism of the parallel structure, kinematically decoupled single-motion mechanism of the sequential structure, and single-motion table for the device relative displacement. A manipulator with the enhanced functional properties for using in the machining technological operations and additive technologies was created and studied. The paper provides an algorithm for solving the inverse positioning problem; and it is demonstrated using a numerical example. A virtual model was created to study the manipulator functional properties. The paper proposes an original algorithm for determining the manipulator working area boundaries in the table coordinate system taking into account the geometric constraints.
EDN: DZBFDQ, https://elibrary/dzbfdq

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