Mechanical Engineering Research Institute of the Russian Academy of Sciences

The paper presents the features of solution to the direct position problem for a parallel structure spatial mechanism. It considers the mechanism of a parallel structure with the truncated cone base, for which the lower rim diameter is smaller than that of the upper rim. Guides of the initial kinematic pairs of such a mechanism are positioned between the lower and upper rims, and the adjacent kinematic chains are connected by a spherical kinematic pair made in the form of three rotational kinematic pairs with the axes intersecting at one point. The output link diameter is smaller than that of the upper rim. In the initial position, the intermediate links together with the output link are positioned inside the base. The paper proposes a technique for solving the direct position problem for a parallel structure mechanism with the truncated cone base, which makes it possible to determine position of the output link depending on the control drives position. Further studies would include construction of the working zone and determination of the bifurcation points.
EDN: KFIVFI, https://elibrary/kfivfi

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