# Structural and kinematic analysis of pantograph-type manipulator with three degrees of freedom

2019;
: 68-82

Revised: June 27, 2019
Accepted: August 30, 2019
1
Lviv Polytechnic National University
2
Lviv Polytechnic National University
3
Hetman Petro Sahaidachnyi National Army Academy

Problem statement. The processes of development and improvement of autonomous mobile robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of autonomous mobile robotic systems Purpose. The main objective of the paper consists in carrying out kinematic analysis and motion simulation of pantograph-type manipulator with three degrees of freedom. Methodology. The method of closed vector loops is used for deriving the equations of motion of the robot’s manipulator. In order to perform simulation (virtual experiment), the 3D-model of the robot was designed in SolidWorks software. Findings (results). The motion equations of the pantograph-type manipulator are derived, and the graphical dependencies describing the trajectories (paths) of the gripping device are constructed. In order to substantiate the correctness of the derived equations, and of the presented laws of the gripper motion, the corresponding 3D-model of the robot was designed and investigated in SolidWorks software. Scopes of further investigations. In the present paper, there are analysed kinematic parameters of the manipulator motion. While carrying out further investigations, it is necessary to perform its dynamic analysis taking into account all the forces acting upon the elements of the robot, as well as the influence of drives. This will allow to catty out the optimization synthesis of the robots structure, namely the geometrical parameters of the mechanism, operational parameters of drives, etc.

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V. Korendiy, R. Zinko, Yu. Cherevko, "Structural and kinematic analysis of pantograph-type manipulator with three degrees of freedom", Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 5, no. 2, pp. 68-82, 2019.