Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

The article presents a synthesis of a mechanism of parallel-sequential structure with five degrees of freedom capable of processing objects with an extended dimention in one direction, wherein the considered mechanism can have a high bearing capacity. Corresponding problems are associated with manufacturing jet turbine airfoil as well as vertebrae operations (on the human spine). Movement along a coordinate that is linked to large dimensions of a processed object is provided using the initial translation pairs equipped with a motor. It is followed by a flat partial parallel structure mechanism with three degrees of freedom, and further – by a revolute kinematic pair. A kinematic analysis of the considered mechanism is performed, and the inverse kinematic problem is solved. The Angeles-Gosselin method for parallel structure mechanisms is used when performing velocity calculations of the parallel-sequential structure mechanism. The results of the numerical experiment are presented.

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