KINEMATICS OF EIGHT-DIMENSIONAL PARALLEL MANIPULATOR WITH FLEXIBLE LINKS
Currently, parallel mechatronic structures with flexible links have been widely developed. Manipulators based on them have found a very wide application in industry, medicine, construction, and are also widely used to show mass sports and cultural events. In this paper, the design of a minimal basic parallel kinematic structure with flexible links is given. The main advantages and disadvantages of this kind of structures are noted. The main disadvantages include the unidirectional stiffness of each link, which leads to the effect of oscillation of the moving load, which is especially pronounced at large values ??of the absolute coordinate z. To increase the rigidity of the structure and eliminate the effect of oscillations of the actuator (platform in operation), a kinematic diagram of a manipulator with eight flexible links is proposed. Solutions of direct and inverse problems of kinematics in the position of an eight-link manipulator with flexible links for three and five absolute coordinates are considered. The angles of rotation around the X and Y axes passing through the geometric center of the platform are taken as additional absolute coordinates in this work. Possible areas of application of manipulators of this design are also shown.