Rigid chain in parallel kinematic positioning system

TL;DR

This paper analyzes the development and application of rigid chain systems in parallel kinematic machines, highlighting their advantages, limitations, and proposing a new three-coordinate robot design based on rigid chains.

Contribution

It introduces a schematic design of a three-coordinate parallel kinematic robot utilizing rigid chains, expanding the potential applications of such systems.

Findings

Rigid chain systems are suitable for high-precision applications.

Ball screw drives are inefficient for large displacements in parallel kinematics.

The proposed robot design demonstrates feasible implementation of rigid chains in parallel kinematic systems.

Abstract

The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling equipment, their advantages and disadvantages are demonstrated. It is shown that it is inexpedient to use ball screw drives in machines with parallel kinematics, performing tasks of low accuracy, but with displacements of more than 3000 mm. The rigid chain system of the Serapid firm and the possibility of its use in machines with parallel kinematics are considered. A schematic solution of a three-coordinate manipulation robot based on parallel kinematics with drive mechanisms on rigid chains is proposed.