TESTING PULL-RODOF OF THE PARALLEL KINEMATIC STRUCTURE

The work describes the kinematic structure of production machinery. I compare the serial and parallel kinematic structures, which are the main carriers of industrial robots and manipulators. I show possibilities, advantages and disadvantages of both structures, the basic distribution and kinematics motion. Parallel mechanisms are characterized by their kinematic structure presented a closed kinematic chain. The end effector mechanism is coupled to the base of more than one arm. This design provides an advantage particularly high rigidity mechanism and other related properties. The disadvantage of such a construction is limited workspace. In terms of positioning and management of this structure because of its complexity rather problematic. It is a structure that allows quick positioning of the tool with three degrees of freedom. Control system with a mechanical part is actually built on the Faculty of Mechanical Engineering. The work focuses on testing the parallel kinematic structure. Finally, the tests are evaluated. Results of experiments to serve in the design of telescoping steering rods and positioning parallel kinematic structure type Tricept in workspace.