Optimal Design of Leading Kinematical Chain of Eight Linked Planar Load Lifting Linkage

The problem of optimization of force transmission in planar linkage is concerned. New kinematical design of hoisting device with straight-line and translational motion of a platform is proposed. The method of optimal synthesis of leading kinematical chain of hydrocylinder is explored and multiobjective design is carried out based on Sobol-Statnikov’s technique. Since the general solution of the modern theory problem of dynamics and strength of machines is absent, then it is an actual problem. DOI: 10.5901/mjss.2014.v5n23p265

Synthesis of Four-Link Basic Kinematic Chains [BKC] with Spherical Pairs for Spatial Mechanisms

A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. DOI: 10.5901/mjss.2014.v5n23p262

Dynamics and rigidity of a manipulator with three DOFs

The problem of dynamic elastic four-link initial kinematic chain (IKC) of the load-bearing manipulator, which is the basis for various modifications are considered. Using the Lagrange operator for this system, equations of motion in matrix form are obtained. To determine the potential energy of an elastic four-link IKC manipulator, we use the formula for the elastic potential energy of a rectilinear homogeneous rod of length l. The cross-section of the rod is considered annular or circular. Solving the system of linear equations of motion on a computer using the ADAMS program, the results of the movement of links and cargo were obtained. Kinematics and dynamics are presented for a generic 3 DOFs Initial Kinematic Chain; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior

Dynamics and rigidity of a manipulator with three DOFs

The problem of dynamic elastic four-link initial kinematic chain (IKC) of the load-bearing manipulator, which is the basis for various modifications are considered. Using the Lagrange operator for this system, equations of motion in matrix form are obtained. To determine the potential energy of an elastic four-link IKC manipulator, we use the formula for the elastic potential energy of a rectilinear homogeneous rod of length l. The cross-section of the rod is considered annular or circular. Solving the system of linear equations of motion on a computer using the ADAMS program, the results of the movement of links and cargo were obtained. Kinematics and dynamics are presented for a generic 3 DOFs Initial Kinematic Chain; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior