Mathematical modelling of linear motion error for Hexarot parallel manipulators

Pedrammehr, Siamak, Chalak Qazani, Mohammad Reza, Abdi, Hamid and Nahavandi, Saeid 2016, Mathematical modelling of linear motion error for Hexarot parallel manipulators, Applied mathematical modelling, vol. 40, no. 2, pp. 942-954, doi: 10.1016/j.apm.2015.07.004.

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Title Mathematical modelling of linear motion error for Hexarot parallel manipulators
Author(s) Pedrammehr, SiamakORCID iD for Pedrammehr, Siamak
Chalak Qazani, Mohammad Reza
Abdi, HamidORCID iD for Abdi, Hamid
Nahavandi, SaeidORCID iD for Nahavandi, Saeid
Journal name Applied mathematical modelling
Volume number 40
Issue number 2
Start page 942
End page 954
Total pages 13
Publisher Elsevier
Place of publication Amsterdam, The Netherlands
Publication date 2016-01-15
ISSN 0307-904X
Keyword(s) parallel manipulator
nonlinear error
Science & Technology
Physical Sciences
Engineering, Multidisciplinary
Mathematics, Interdisciplinary Applications
Summary Hexarot is a robotic manipulator that belongs to the family of axis symmetric parallel mechanisms. The robot is able to move the robot platform or tool center point in six degrees of freedom (DOF). This paper presents the kinematics model of the robot including the inverse and forward kinematics, and its time derivatives. Then using the kinematics formulations, investigation of the nonlinear motion of the Hexarot robot for a desired linear motion path is performed. For this purpose, the concept of curvature of the robot path is used for measuring the nonlinearity of the actual motion of the robot. The nonlinear motion error of the robot is analyzed for the scenario where the platform moves on a linear path between two arbitrary points of the robot workspace. The effects of different parameters on the nonlinear motion error of the mechanism are demonstrated and strategies for motions with low error values are proposed.
Language eng
DOI 10.1016/j.apm.2015.07.004
Field of Research 090602 Control Systems, Robotics and Automation
0102 Applied Mathematics
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 ©2016, Elsevier
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Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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