Martynov

This is the second paper in the series of four works dedicated to design of parallel mechanisms for orientation of the space observatory “Millimetron”. In this article the authors stated a problem of “Millimetron” observatory's antenna orientation with the use of a parallel hexapod-based multi-sectional manipulator. The manipulator was designed in Solid Works software package. The Manipulator's 3D-model created in NX5 with the use of “Kinematic Simulation of Mechanisms” software package is introduced in this work. Software for solving direct and inverse kinematic problems was designed. A model of the guided five-section manipulator developed in MatLab Simulink software package is also described.

Heavy graphic systems (CATIA, UNIGRAPHICS, Pro-Engineer), and modern systems PDM and PDL (ENOVIA, DELMIA, etc.) incorporate the various means, allowing to simulate behaviour of working executors or pilots on the workplaces (on the conveyor, at machine tools, in a plane cabin, in car salon and so forth). Such imitation allows to define more full, for example, ergonomic characteristics of the designed workplace of the pilot, or visually to show occurrence of possible turns on processing in the course of assemblage on the conveyor etc.