Structural analysis of a parallel structure mechanism with six degrees of freedom and the truncated cone base

The paper considers a new parallel structure spatial mechanism with the truncated cone base. Its lower rim diameter is smaller than that of the upper one. The initial kinematic pairs’ guides are positioned between the indicated rims. The paper describes the mechanism structural composition. It determines the mechanism number of degrees of freedom using the Somov-Malyshev formula. A distinctive feature is the adjacent kinematic chains connection using a spherical kinematic pair made in the form of three rotational kinematic pairs with the axes intersecting at one point. The diameter of the output link is smaller than that of the upper rim. In the initial position, the intermediate links and the output link fit inside the base. The missing protruding parts ensure mechanism protection from the negative impact of external environment and resistance to motion. In case of the mechanism positioning on the interface boundary, the access from the inside could be provided for maintenance, tool change, etc. Using the screw guides could be a possible implementation solution.
EDN: NICQHN, https://elibrary/nicqhn

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