{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,17]],"date-time":"2024-07-17T00:14:28Z","timestamp":1721175268868},"reference-count":26,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2021,8,3]],"date-time":"2021-08-03T00:00:00Z","timestamp":1627948800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three-joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.<\/jats:p>","DOI":"10.3390\/robotics10030099","type":"journal-article","created":{"date-parts":[[2021,8,4]],"date-time":"2021-08-04T03:37:21Z","timestamp":1628048241000},"page":"99","source":"Crossref","is-referenced-by-count":3,"title":["Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers"],"prefix":"10.3390","volume":"10","author":[{"given":"Zhumadil","family":"Baigunchekov","sequence":"first","affiliation":[{"name":"Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan"},{"name":"Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[{"name":"Department GMSC, Institut PPRIME, CNRS, Universit\u00e9 de Poitiers, ENSMA, UPR 3346, 86962 Poitiers, France"}]},{"given":"Azamat","family":"Mustafa","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Modeling, Satbayev University, 22a Satpaev Str., Almaty 050013, Kazakhstan"}]},{"given":"Abzal","family":"Kassinov","sequence":"additional","affiliation":[{"name":"Department of Mechanics, Al\u2013Farabi Kazakh National University, 71 Al\u2013Farabi Ave., Almaty 050040, Kazakhstan"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"547","DOI":"10.1007\/978-981-10-2875-5_45","article-title":"Parallel Manipulator of a Class RoboMech","volume":"408","author":"Baigunchekov","year":"2017","journal-title":"Lect. 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