Presentation of Research Proposal: Research of the parallel manipulators of RoboMech class Prepared by: Mustafa Azamat

First I chosen the following RESEARCH METHODOLOGY Applied research Correlational research Quantitative research Exploratory research

The goal and objectives of the project The goal of the project is to develop the methods of research and create of the intelligent PM. Since intelligent PM operate under certain structural diagrams and geometrical parameters of links and they have more complex constructions in comparison with the existing serial manipulators, the set goal requires the solution of the following tasks: 1) structural-parametric synthesis of intelligent PM; 2) kinematic, dynamic and strength analysis of intelligent PM; 3) creation of new patentable intelligent PM.

In the structural-parametric synthesis, the methods for determining the structural diagrams and geometrical parameters of the links of intelligent PM will be developed according to the given laws of motions of the-effectors and actuators. In the kinematic analysis, the methods for determining the positions, velocities and accelerations of the links of intelligent PM, including the study of their singular configurations, will be developed. In the dynamic analysis the methods for determining the driving moments and forces of the actuators, forces and moments of reactions in kinematic pairs under the action of external forces and moments, including inertial forces and inertial moments, will be developed. In the strength analysis, the methods for determining the optimal cross-sections of links of intelligent PM, taking into account their elasticity, will be developed. On the base of these methods of synthesis and analysis, an experimental sample of two-coordinate intelligent PM for the "Zhakan Kalsha" plant (former Massaget plant) (Almaty, Kazakhstan)will be designed, which will be used for loading and unloading operations. Experimental Procedure

Analysis of the current state of robotics [1-5] shows that the existing methods of designing robotic manipulators (RM) are reduced to solving the inverse kinematics problem, i.e. the definition of the laws of motions of actuators and the development of control systems. At the same time, the RM design remains practically unchanged, having an anthropomorphic structure [6- 9].Anthropomorphic manipulators (or serial manipulators [6]), possessing a universality, a simple kinematic diagram, a large workspace, has such significant drawbacks: according of the cantilever of the construction, the links are subjected to bending deformations, which limits their load capacity and positioning accuracy. In addition, in solving the inverse problem of kinematics, unevenness and reversibility of the motions of the actuators are possible, which worsens the dynamics of the MR. Literature Review

Bibliography 1. K.S. Fu, R.C. Gonzales, C.S.G. Lee. Robotics: Control, Sensing, Vision, and Intelligence - McGraw- Hill Book Company, S. L. Zenkevich, A. S. Yushenko. Fundamentals of Control of Robots. (in Russian) – Moscow, T. Yoshikawa. Foundation of Robotics: Analysis and Control. - MIT Press, K.C. Gupta. Mechanics and Control of Robots. Springer -Verlag, New York, Spong M.W., Hutchinson S., and Vidyasagar M. Robot Modeling and Control. John Wiley& Sons, Inc., Lung-Wen Tsai. Robot Analysis: The Mechanics of Serial and Parallel Manipulators. - John Wiley& Sons, Inc.,New York/Singapore/Toronto, Marco Ceccarelli. Fundamentals of Robotic Mechanical Systems. -Kluwer Academic Publishers. Dordrecht/Boston/London, K.V. Frolov, E.I. Vorobyev. Mechanics of Idustrial Robots. (in Russian). – Moscow, Jorge Angles. Fundamentals of Robotic Mechanical Systems. Theory, Methods, and Algorithms, Fourth Edition. -Springer, 2014.

The expected scientific and social-economic effect is the design of a new class of parallel manipulators with built-in intelligence, which have a large load capacity, high positioning accuracy and a simple control system for automation of technological processes. Expected results

The results of the project are new intelligent parallel manipulators (PM), which have a simple control system, large load capacity, high positioning accuracy and favorable dynamic characteristics. In intelligent PM, the laws of motions of the actuators are simultaneously given in common with the given laws of motions of the end-effectors. Setting the laws of motions of actuators (usually monotonously and evenly) of intelligent PM simplifies the control system, excludes the possible reversible regimes of braking and dispersal, which improves their dynamics. The closed kinematic chain of intelligent PM increases their load capacity and positioning accuracy. These PM are called the intelligent PM, because the elements of control of motions are assigned to their mechanics, i.e. they are manipulators with "built-in intelligence". Conclusion and Significance of Research