№1 (52), 2020. ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS

The last decade has seen an increase in publications on mechatronic systems of parallel structure with flexible connections. The paper proposes and studies the question of the use of a parallel structure manipulator with flexible connections to create a complex of additive manufacturing of building structures. The basic structural schemes of kinematics of cable parallel manipulators are considered. The solutions to direct and inverse kinematics problems of parallel structures suitable for building additive systems are considered. The developed mathematical model of the kinematics of cable manipulators makes it possible to conduct further research on the implementation of the control system in real-time mode.