Parallel Robots with a Circular Guide: Systematic Review of Kinematic Schemes and Methods of Synthesis and Analysis

The article reviews various designs of parallel robots with a circular guide, which provide the output link with an unlimited rotation around one of the axes. The paper considers familiar methods and algorithms for type and dimensional synthesis and mobility analysis, singularity determination, and...

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Bibliographic Details
Published inJournal of machinery manufacture and reliability Vol. 51; no. 1; pp. 20 - 29
Main Authors Kiselev, S. V., Antonov, A. V., Fomin, A. S.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 2022
Springer Nature B.V
Subjects
Algorithms
Dimensional analysis
Engineering
Machines
Manufacturing
Mechanics of Machines
Processes
Robots
Synthesis
workspace
mobility analysis
degree of freedom
singularities
dimensional synthesis
manipulator
parallel robot
mechanism
type synthesis
circular guide
kinematic chain
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Summary:The article reviews various designs of parallel robots with a circular guide, which provide the output link with an unlimited rotation around one of the axes. The paper considers familiar methods and algorithms for type and dimensional synthesis and mobility analysis, singularity determination, and workspace construction for such robots. The performed study presents the current state of the problems mentioned above and shows the directions for future research in this field.
ISSN:1052-6188
1934-9394
DOI:10.3103/S1052618822010058