Investigation of the configuration of a parallel manipulator for additive manufacturing of solid structures

Abstract

The last decade has seen an increase in publications on mechatronic systems of parallel structure with flexible connections. Such manipulators are used in the field of videography of sports events and in crane structures for special purposes. The paper proposes and studies the question of the use of a parallel structure manipulator with flexible connections to create a complex of additive manufacturing of building structures. The basic structural schemes of kinematics of cable parallel manipulators are considered. The solutions of direct and inverse kinematics problems of parallel structures suitable for building additive systems are considered. The developed mathematical model of the kinematics of cable manipulators makes it possible to conduct further research on the implementation of the control system in real-time mode.