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In this paper, we consider the application of optimization algorithms to solve the problem of determining the operating area of a robot with mechanisms of relative manipulation based on a plane 3-RPR mechanism and a tripod mechanism. A method for approximating the set of solutions to a system of nonlinear inequalities describing constraints on the geometric parameters of the robot is considered. Algorithms for constructing the operating areas of individual mechanisms were synthesized. The orientation effect of the output link on the size and shape of the operating area of each mechanism is analyzed. The operating area of the robot is obtained taking into account the constraints on the geometric parameters of the workpiece being in a moving coordinate system located in the center of the flat 3-RPR mechanism, as well as taking into account design constraints, intersections of links, and special positions. [ABSTRACT FROM AUTHOR]

In this paper, we consider the application of optimization algorithms to solve the problem of determining the operating area of a robot with mechanisms of relative manipulation based on a plane 3-RPR mechanism and a tripod mechanism. A method for approximating the set of solutions to a system of nonlinear inequalities describing constraints on the geometric parameters of the robot is considered. Algorithms for constructing the operating areas of individual mechanisms were synthesized. The orientation effect of the output link on the size and shape of the operating area of each mechanism is analyzed. The operating area of the robot is obtained taking into account the constraints on the geometric parameters of the workpiece being in a moving coordinate system located in the center of the flat 3-RPR mechanism, as well as taking into account design constraints, intersections of links, and special positions. [ABSTRACT FROM AUTHOR]

This paper considers a method of determining the stiffness and displacement of the output link of a tripod robot that is a part of a robotic system with relative manipulation modules based on a Jacobian matrix. It shows that the stiffness maps reveal the maximum and minimum stiffness in the robot workspace. An algorithm for calculating the error caused by the displacement of the output link under the action of the cutting force is given. The modeling results are presented. [ABSTRACT FROM AUTHOR]

We consider the problem of constructing multi-connected control of a robotic platform designed to protect technological objects and human operators from low-frequency influences on part of the moving base. The platform includes six drive mechanisms with stepper motors. The problem is solved by the methods of the modern theory of robust stabilization and optimal control based on H∞-optimization in the state space. We construct a mathematical model of the multidimensional system, taking into account the characteristics of electromechanical drives and using signals of feedback sensors as state variables. We give an example of synthesizing a multidimensional optimal stabilizing controller in the form of state feedback for a system with disturbances bounded in L2-norm. We define the feedback control structure and obtain the matrix of feedback coefficients. We also show the results of mathematical modeling. [ABSTRACT FROM AUTHOR]