The Study of the Dynamics of a Cebâşev Manipulator

The paper presents a new method for determining the dynamic parameters of a Cebâşev conveyor mechanism, solvable in two steps. In the first step, the classic method of preserving the kinetic energy of the entire mechanism is used to determine the rotating mass of the Cebâşev mechanism denoted by J*, this being the dynamic rotating mass of the entire mechanism reduced to the driving element 1 (of the crank type; classical rotating mass is called the mechanical or mass moment of inertia). In the second step (with the help of a new method), the dynamic angular speed of the Cebâşev mechanism's crank is directly determined, by using the mechanism's kinetic energy conservation a second time. This eliminates the need to use a more laborious classical method in the second step, such as differential Newton, Lagrange of type 1, Laplace transform, or Fourier, a finite difference method.