Geometrical synthesis of spatial six-link guiding mechanisms

Authors

DOI:

https://doi.org/10.15587/1729-4061.2018.141816

Keywords:

Sarrus linkage, six-link spatial mechanism, path generating mechanism, linear displacement, geometric synthesis

Abstract

The study considers problems of geometric synthesis of spatial hinge-lever six-link mechanisms with linear displacement of the final link performing the guiding function. The variants of arranging the mechanisms and their design features to provide the maximum course of the final link with minimum lengths of levers have been found. The geometric parameters of the mechanism in its generalized form have been determined and specified the kinematics and layout schemes. The influence of geometric parameters and layout variants on the kinematic parameters of the mechanisms has been studied. Dependencies have been obtained to determine the geometric parameters of the basic mechanism by the specified course of the final link and the permissible angles of transmission in the hinges of the levers. Parametric dependencies are provided in the article to help calculate accurately the optimal geometry of the mechanism by the criterion for minimizing the lengths of the levers at acceptable transmission angles and the required range of displacements. A scheme has been proposed for calculating spatial dimensional chains for determining the shape of the parts. 3D modeling has revealed the variability of geometric parameters, which helped formulate layout versions of the mechanism. A technique for geometric synthesis has been developed and variants of spatial hinge-lever six-link mechanisms in dynamics have been modeled in accordance with this technique, which made it possible to show the features of the motion of the links.

The carried out research has determined possible ways of developing new variants of spatial hinge-lever six-link mechanisms, and it has opened new possibilities of their application as a guiding mechanism. The results of the research can be used in designing platforms for lifts, robot manipulators, machine tools, and in mechatronics

Author Biographies

Serhii Kliuchkovskyi, Lviv Polytechnic National University S. Bandery str., 12, Lviv, Ukraine, 79013

PhD, Associate Professor

Department of precision mechanics devices

Myroslav Tykhan, Lviv Polytechnic National University S. Bandery str., 12, Lviv, Ukraine, 79013

Doctor of Technical Sciences, Associate Professor

Department of precision mechanics devices

Taras Repetylo, Lviv Polytechnic National University S. Bandery str., 12, Lviv, Ukraine, 79013

PhD, Аssistant

Department of precision mechanics devices

Yuriy Hirnyak, Lviv Polytechnic National University S. Bandery str., 12, Lviv, Ukraine, 79013

Аssistant

Department of precision mechanics devices

References

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Published

2018-09-12

How to Cite

Kliuchkovskyi, S., Tykhan, M., Repetylo, T., & Hirnyak, Y. (2018). Geometrical synthesis of spatial six-link guiding mechanisms. Eastern-European Journal of Enterprise Technologies, 5(7 (95), 54–62. https://doi.org/10.15587/1729-4061.2018.141816

Issue

Vol. 5 No. 7 (95) (2018): Applied mechanics

Section

Applied mechanics

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Copyright (c) 2018 Serhii Kliuchkovskyi, Myroslav Tykhan, Taras Repetylo, Yuriy Hirnyak

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