Determination of Spatial and Speed Parameters for a 4-DOF Balanced Mechanism with a Remote Center of Rotation

The article presents an experiment on a mechanism with a remote center of rotation and four coordinates. Based on the parameters of the drives and control system, the discreteness of the mechanism movements is calculated. The ranges of change for all coordinates were experimentally determined. The total time of movement was measured for each of the coordinate ranges. Based on the direct measurements made, the speeds of movement in all coordinates were calculated. The calculation of absolute and relative errors for direct and indirect measurements was carried out. Based on the results obtained, a geometric interpretation of the working area of the mechanism for the end point of the instrument is presented. Conclusions were drawn about the prospects of using a mechanism of such a scheme to solve various technological problems.