Influence of the drive kinematic pairs different arrangement in the combined relative manipulation mechanism on special positions

The paper considers the problems in synthesizing the combined relative manipulation mechanisms providing advantages over the parallel structure mechanisms. The combined relative manipulation mechanism includes two series-connected modules with a certain number of the degrees of freedom. The first module reproduces a given trajectory; the second determines body orientation in the moving coordinate system and motion of the coordinate system itself. Relative manipulation mechanisms are used in the modern multi-coordinate metalworking and coordinate measuring machines, laser robotics manipulation support systems, optical devices, telescopes and simulators, adjustable hinged trusses of the construction mechanisms, etc. The paper shows relevance of studying the working area for various options of positioning the drive rotary pairs on the mechanism reproducing a given trajectory, since it is one of the main characteristics of any manipulation mechanism. It specifies special provisions for the proposed options; working areas are designed taking into account special provisions for the combined relative manipulation mechanism. Study results confirm efficiency of positioning the drive rotary pairs on the intermediate links making it possible to synthesize a combined relative manipulation mechanism with the least number of the special positions. The paper considers various approaches to description and classification of such positions.
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