# Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders
## 5 Numerical Results and Prototyping  
\(N=11\) positions \(s_{Q_{i}}\) and \(s_{P_{i}}\) of the input and output sliders of the PM with two sliders are shown in Table 1.  
Tables 2 and 3 show the obtained values of the synthesis parameters of the passive CKC \(ABC\) and negative CKC \(DE\), respectively. \begin{table}
\begin{tabular}{c c c c c c c c c c c} \hline \hline
**i** & **1** & **2** & **3** & **4** & **5** & **6** & **7** & **8** & **9** & **10** & **11** \\ \hline \(s_{Q_{i}}\), mm & 0 & 6.0 & 12.0 & 18.0 & 24.0 & 30.0 & 36.0 & 42.0 & 48.0 & 54.0 & 60 \\ \(s_{P_{i}}\), mm & \(-97.88\) & \(-87.86\) & \(-80.29\) & \(-73.46\) & \(-66.8\) & \(-59.97\) & \(-52.63\) & \(-44.31\) & \(-34.18\) & \(-19.99\) & 0 \\ \hline \end{tabular}
\end{table} 
Table 1: Positions of the input and output sliders. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \(\mathbf{x_{A}^{(1)}}\),mm & \(\mathbf{y_{A}^{(1)}}\),mm & \(\mathbf{x_{C}^{(2)}}\),mm & \(\mathbf{y_{C}^{(2)}}\),mm & \(\mathbf{l_{AB}}\),mm & \(\mathbf{l_{BC}}\),mm \\ \hline \(-7.5012\) & \(2.0817\) & \(-2.5335\) & \(1.7562\) & \(60.0174\) & \(100.0207\) \\ \hline \end{tabular}
\end{table} 
Table 2: Synthesis parameters of the passive CKC \(ABC\). Figure 7: 3D CAD model of the PM with two sliders is shown in Figure 7.  
Table 4 shows the obtained values of the positions \(s_{P_{i}}\) and analogues of the linear velocities \(u_{P_{i}}\) and linear accelerations \(w_{P_{i}}\) of the output slider \(P\). A prototype of the PM with two sliders; and a block scheme of its characteristics are shown in Figures 9 and 10, respectively. \begin{table}
\begin{tabular}{c c c c c c c c c c c} \hline \hline
**i** & **1** & **2** & **3** & **4** & **5** & **6** & **7** & **8** & **9** & **10** & **11** \\ \hline \(s_{P_{i}}\), mm & –97.88 & –87.86 & –80.29 & –73.46 & –66.8 & –59.97 & –52.63 & –44.31 & –34.18 & –19.99 & 0 \\ \hline \(u_{P_{i}}\) & 29.0364 & 24.8392 & 20.6181 & 16.0497 & 10.9754 & 5.2438 & –1.3316 & –9.0244 & –18.3301 & –30.4705 & –44.6353 \\ \hline \(w_{P_{i}}\), \(mm^{-1}\) & 1.8788 & 1.4345 & 1.1417 & 08.1868 & 07.3624 & 1.02159 & 1.4427 & 2.2557 & 3.5165 & 3.6692 & 1.9001 \\ \hline \end{tabular}
\end{table} 
Table 4: Positions and analogues of the linear velocities and accelerations of the output slider \(P\). Figure 8: Graphics of the parameters \(s_{P_{i}}\),\(u_{P_{i}}\),\(w_{P_{i}}\). Figure 9: Prototype of the PM with two sliders: (**a**) the first position (**b**) the second position. At the beginning, the hydraulic cylinder punch is located at the upper extreme position, and the distance sensor 1 checks a presence of the workpiece for stamping in the die. If there is no workpiece, then the presence of the workpiece in the store is checked using the distance sensor 2. If there is no workpiece in the store, the motor does not turn on. If there is the workpiece in the store, the motor turns on and the punch moves to the lower working position. At this time, the PM slider moves to the left extreme position for the next workpiece. The first stroke of the punch will be idle. After reaching the lower extreme position of the punch, the distance sensor 1 gives the command to the hydraulic cylinder valve to switch and the punch rises until reaching the touch sensor. In this case, the hydraulic cylinder valve switches, the hydraulic cylinder motor is turned off, and the PM delivers the workpiece to the die (working area). Further, the distance sensor 1 checks the presence of the workpiece in the die. After delivering the workpiece to the die, the motor turns on and the punch goes down to the lower working position, where the weight sensor is located, which regulates  
Figure 10: Block scheme of the PM with two sliders work. the press force for high-quality stamping. The hydraulic cylinder valve switches after punching, and the punch rises until it reaches the touch sensor. In this case, the hydraulic cylinder valve is switched and its motor is turned off. This cycle is repeated until the end of the workpieces in the store.