Synthesis and Analysis of a Novel Linkage Mechanism with the Helical Motion of the End-Effector
1
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow 101990, Russia
2
Faculty of Mechanical and Process Engineering, Düsseldorf University of Applied Sciences, 40476 Düsseldorf, Germany
*
Author to whom correspondence should be addressed.
Robotics 2020, 9(3), 53; https://doi.org/10.3390/robotics9030053
Received: 2 April 2020
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Revised: 4 June 2020
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Accepted: 2 July 2020
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Published: 8 July 2020
(This article belongs to the Special Issue Theory and Practice on Robotics and Mechatronics)
The proposed study is focused on the development of a novel modification of the slider-crank mechanism, the kinematic scheme of which is organized by coupling planar and spatial (screw) kinematic chains. The structure of this mechanism provides the end-effector with a cyclic movement along a helicoidal trajectory, while all other links have planar motions. A kinematic analysis of the synthesized mechanism is discussed in this study. The motion variables of the end-effector at different pitches in the screw joints are determined analytically and numerically. Based on the mechanism’s kinematic scheme, its assembling computer-aided design (CAD) model has been created, in accordance with which a physical prototype has been built. A functional performance of the prototype is studied by comparing the displacements of its end-effector with analogical displacements of the CAD model. The question of the technological application of the developed mechanism for spring winding and various objects’ screwing has been considered in this study.
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MDPI and ACS Style
Fomin, A.; Petelin, D.; Jahr, A. Synthesis and Analysis of a Novel Linkage Mechanism with the Helical Motion of the End-Effector. Robotics 2020, 9, 53. https://doi.org/10.3390/robotics9030053
AMA Style
Fomin A, Petelin D, Jahr A. Synthesis and Analysis of a Novel Linkage Mechanism with the Helical Motion of the End-Effector. Robotics. 2020; 9(3):53. https://doi.org/10.3390/robotics9030053
Chicago/Turabian StyleFomin, Alexey, Daniil Petelin, and Andreas Jahr. 2020. "Synthesis and Analysis of a Novel Linkage Mechanism with the Helical Motion of the End-Effector" Robotics 9, no. 3: 53. https://doi.org/10.3390/robotics9030053
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