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In this work we introduce a new approach to solving the dynamics problem for different mechanisms of parallel structure and their mathematical modeling and calculations. Currently most of the methodologies for these tasks are based on linearization of nonlinear dependencies and do not correctly reveal dynamic characteristics of mechanisms. In this article we suggest a new universal methodology that allows us to consider kinematic and dynamic features of mechanical systems. This approach takes into account mutual influence of actuators and inertial characteristics of all moving links of the mechanism.

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Mathematical Modeling and Calculation of the Dynamics of Parallel Structure Mechanisms

  • 会议论文

  • 发表日期：

    2026年

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  • A. K. Aleshin,
  • G. V. Rashoyan,
  • A. A. Romanov,
  • G. S. Filippov,
  • R. A. Chernetsov,
  • K. A. Shalukhin

摘要

In this work we introduce a new approach to solving the dynamics problem for different mechanisms of parallel structure and their mathematical modeling and calculations. Currently most of the methodologies for these tasks are based on linearization of nonlinear dependencies and do not correctly reveal dynamic characteristics of mechanisms. In this article we suggest a new universal methodology that allows us to consider kinematic and dynamic features of mechanical systems. This approach takes into account mutual influence of actuators and inertial characteristics of all moving links of the mechanism.