Romanov Andrey Alexandrovich
Verified @mail.ru
Scopus Publications
- Mathematical Modeling and Calculation of the Dynamics of Parallel Structure Mechanisms
A. K. Aleshin, G. V. Rashoyan, A. A. Romanov, G. S. Filippov, R. A. Chernetsov, K. A. Shalukhin
Mechanisms and Machine Science, 2026 - Determination of Spatial and Speed Parameters for a 4-DOF Balanced Mechanism with a Remote Center of Rotation
K. Shalyukhin, V. Glazunov, A. Romanov
Mechanisms and Machine Science, 2024 - Kinematic and Accuracy Analysis of the Parallel Delta-Type Structure Mechanism with Application of the Plücker Coordinate
E. S. Gebel, A. B. Lastochkin, A. A. Romanov, L. V. Gavrilina, M. V. Glazunov
Journal of Machinery Manufacture and Reliability, 2023
Abstract The delta robot is considered one of the most well-known representatives of manipulation devices with a parallel structure. It includes three kinematic chains, each containing a rotary drive and a hinged parallelogram. We present solutions to the kinematics problems, including the position problems and the precision analysis problems. When solving them, we applied the screw calculus and showed that contiguity to singular positions causes a repeatability deterioration. - Development and Investigation of a Parallel-Structure Mechanism with Toothed Gears Taking into Account Friction
V. A. Glazunov, A. Yu. Albagachiev, M. N. Erofeev, A. A. Romanov
Journal of Machinery Manufacture and Reliability, 2022
A new parallel-structure mechanism, the distinctive feature of which consists in the presence of a kinematic decoupling obtained resulting from the use of cardan joints in each kinematic chain, as well as cylindrical and bevel toothed gears, is considered. In this case, the rotational motion is transmitted to the output link from the motors mounted on sliders moved with the help of translational motors located on vertically mounted racks. The structural analysis, positional problem, working zone, as well as force analysis taking into account friction forces, are presented.
