Sami (. The increase of static and dynamic exactness of spatial mechanisms of parallel kinematics with spherical supports

A computation complex is created for definition of parameters of static exactness of mechanisms of parallel kinematics, in particular at the accidental changes of dimensions of elements of kinematics chains formative the spatial structure of mechanisms. The new method of stochastic errors analysis of mechanism, realizing the decision of direct task of kinematics at the important laws of movement of working organ of mechanism models practically, is developed. Descriptions of working processes taking place in the basic knots of mechanisms are definite, in particular, in spherical supports and kinematics chains of change of length of barbells and their influence is set on the indexes of exactness of mechanism. First in practice of dynamics of mechanisms conformities to the law of work of dynamic subsystems of mechanisms of parallel kinematics, and their influence, are found on descriptions of dynamic exactness of mechanism on the whole. The presence of particular dynamic treatments arising up on the reserved (circular) areas of the dynamic system of mechanism is set.