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Kinematic manipulability analysis of hexarot simulators

Version 2 2024-06-06, 10:34
Version 1 2019-07-17, 10:18
conference contribution
posted on 2024-06-06, 10:34 authored by S Pedrammehr, MR Chalak Qazani, Houshyar AsadiHoushyar Asadi, S Nahavandi
© 2019 IEEE. Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.

History

Volume

2019-February

Pagination

133-138

Location

Melbourne, Victoria

Start date

2019-02-13

End date

2019-02-15

ISSN

2643-2978

ISBN-13

9781538663769

Language

eng

Publication classification

E1 Full written paper - refereed

Title of proceedings

ICIT 2019 : Proceedings of the IEEE International Conference on Industrial Technology

Event

Industrial Technology. Conference (2019 : Melbourne, Victoria)

Publisher

IEEE

Place of publication

Piscataway, N.J.

Series

IEEE International Conference on Industrial Technology