Structural synthesis and classification of the parallel-cross structure spatial mechanisms

Various types of the coiled tubing units are used in the oil and gas industries. Therefore, a problem arises in the insufficiently precise positioning of the flexible pipe feed mechanism above the wellhead and violating its position, which leads to a misalignment of the pipe longitudinal axis and the well axis causing a decrease in the pipe life, its bending, and in certain cases, its breakage. The paper considers a classification of the spatial mechanisms of a parallel-cross structure with a different number of the drive kinematic chains. It analyzes the influence of the number of superimposed connections on the mechanism mobility degree depending on the one or more cross kinematic chains present, 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 ones. The mechanisms obtained during the synthesis and provided in the classification would make it possible to expand the scope of industrial application of such devices.
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