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Kinematic manipulability analysis of hexarot simulators

conference contribution
posted on 2019-01-01, 00:00 authored by Siamak Pedrammehr, Mohammadreza Chalak Qazani, Houshyar AsadiHoushyar Asadi, Saeid 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

Event

Industrial Technology. Conference (2019 : Melbourne, Victoria)

Pagination

133 - 138

Publisher

IEEE

Location

Melbourne, Victoria

Place of publication

Piscataway, N.J.

Publisher DOI

Start date

2019-02-13

End date

2019-02-15

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

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    Research Publications

    Categories

    Keywords

    Parallel mechanismHexarotManipulabilityKinematicsScience & TechnologyTechnologyEngineering, Electrical & ElectronicEngineeringNumerical AnalysisMathematical Sciences not elsewhere classifiedMechanical Engineering not elsewhere classified

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    All Rights Reserved

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