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Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system

Qazani, Mohammad R., Pedrammehr, Siamak, Rahmani, Arash, Danaei, Behzad, Ettefagh, Mir M., Rajab, Aslan K.S. and Abdi, Hamid 2015, Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system, Robotica, vol. 33, no. 8, pp. 1686-1703, doi: 10.1017/S0263574714000988.

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Title Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system
Author(s) Qazani, Mohammad R.
Pedrammehr, Siamak
Rahmani, Arash
Danaei, Behzad
Ettefagh, Mir M.
Rajab, Aslan K.S.
Abdi, Hamid
Journal name Robotica
Volume number 33
Issue number 8
Start page 1686
End page 1703
Total pages 18
Publisher Cambridge University Press
Place of publication London, Eng.
Publication date 2015-10
ISSN 0263-5747
1469-8668
Keyword(s) Hexarot
Jacobian matrix
Kinematics
Parallel manipulator
Workspace
Summary Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.
Language eng
DOI 10.1017/S0263574714000988
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, Cambridge University Press
Persistent URL http://hdl.handle.net/10536/DRO/DU:30070299

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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