Structural synthesis and classification of mechanisms of the parallel structure with cross connections

Along with active development of the robotics, requirements to the robotic devices mechanisms are increasing. Parallel structure mechanisms most fully meet these criteria. Their output link is connected to the base by several kinematic chains, which makes it possible to increase accuracy, load capacity and motion speed of the working components compared to those for mechanisms of the sequential structure. However, the parallel structure mechanisms are characterized by such disadvantages as smaller working area and insufficient rigidity at absorbing load. Main advantage of the parallel-cross structure mechanisms is their ability to absorb heavy loads maintaining high positioning accuracy within the working area. The paper considers classification of the parallel-cross structure mechanisms with a different number of the drive kinematic chains. It studied the influence of the superimposed connections number on the mechanism degree of freedom depending on the number of cross kinematic chains, their position between the adjacent or opposite drive kinematic chains, as well as on the method of connecting the cross kinematic chains to the drive kinematic chains. Mechanisms obtained during the synthesis and classification proposed for them would significantly expand the scope of application for such devices in the industry.
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