Developing the mechanisms of parallel structure with five degrees of freedom designed for technological robots

摘要

The paper deals with the problems of kinematic and force analysis of a technological robot with a parallel structure, which is a development of the well-known METROM scheme that corresponds to five degrees of freedom. In contrast to the prototype, this mechanism only has three kinematic chains, which leads to an increase in the working area due to a decrease in the possibility of mutual interference between the kinematic chains.