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

journal contribution
posted on 2015-10-07, 00:00 authored by M R C Qazani, Siamak Pedrammehr, A Rahmani, B Danaei, M M Ettefagh, A K S Rajab, Hamid AbdiHamid Abdi
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.

History

Journal

Robotica

Volume

33

Issue

8

Pagination

1686 - 1703

ISSN

0263-5747

eISSN

1469-8668

Publication classification

C Journal article; C1 Refereed article in a scholarly journal

Copyright notice

2015, Cambridge University Press