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Mathematical modelling of linear motion error for Hexarot parallel manipulators

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Version 2 2024-06-06, 10:33
Version 1 2015-08-25, 14:43
journal contribution
posted on 2024-06-06, 10:33 authored by S Pedrammehr, MR Chalak Qazani, Hamid AbdiHamid Abdi, S Nahavandi
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.

History

Journal

Applied Mathematical Modelling

Volume

40

Pagination

942-954

Location

Amsterdam, The Netherlands

ISSN

0307-904X

eISSN

1872-8480

Language

English

Publication classification

C Journal article, C1 Refereed article in a scholarly journal

Copyright notice

2016, Elsevier

Issue

2

Publisher

ELSEVIER SCIENCE INC