{'fraction_non_alphanumeric': 0.022381378692927483, 'fraction_numerical': 0.0035810205908683975, 'mean_word_length': 5.46242774566474, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
STUDIES REGARDING THE KINEMATIC AND DYNAMIC ANALYSIS OF PARALLEL MINI-MANIPULATORS

One of the most important approaches in the scientific research concerning the increase of the positioning accuracy is the use of parallel structures. Parallel kinematic structures have a series of advantages that makes them adequate for the mini-robots construction: actuator positioning on the seating, miniaturization, stiffness, positioning precision and repeatability, actuators separation from the workspace. The problems concerning the kinematics and the dynamics of parallel robots are, as a rule, more complicated than those of serial ones. The dynamic modeling of parallel robots presents an inherent complexity due to their closed-loop structure and kinematic chains [3]. The paper presents the algorithms for the kinematic and dynamic analysis of two 6 DOF parallel mini-manipulators: 3PPRS and 3-PPSR (so called guided in three points mechanisms). The obtained simulation results have shown that the developed models have a compact structure and could be used for the real-time control of the parallel mini-manipulators.