In:
Robotica, Cambridge University Press (CUP), Vol. 33, No. 08 ( 2015-10), p. 1686-1703
Abstract:
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.
Type of Medium:
Online Resource
ISSN:
0263-5747
,
1469-8668
DOI:
10.1017/S0263574714000988
Language:
English
Publisher:
Cambridge University Press (CUP)
Publication Date:
2015
detail.hit.zdb_id:
2002662-6
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