Rigid chain in parallel kinematic positioning system
This work addresses the problem of unsuitable drive mechanisms for large-displacement, low-accuracy parallel kinematic machines, offering a potential solution for equipment designers.
This paper analyzes trends in parallel kinematic structures for machine-building equipment, identifying the impracticality of ball screw drives for low-accuracy, long-displacement (over 3000 mm) applications. It proposes a three-coordinate manipulation robot design utilizing rigid chain systems from Serapid as an alternative drive mechanism.
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.