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

Published online by Cambridge University Press:  29 April 2014

Mohammad Reza Chalak Qazani ,
Siamak Pedrammehr ,
Arash Rahmani ,
Behzad Danaei ,
Mir Mohammad Ettefagh ,
Aslan Khani Sheikh Rajab  and
Hamid Abdi
Mohammad Reza Chalak Qazani
Affiliation:
Faculty of Technology & Engineering, Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
Siamak Pedrammehr*
Affiliation:
Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, Turkey
Arash Rahmani
Affiliation:
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran
Behzad Danaei
Affiliation:
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran
Mir Mohammad Ettefagh
Affiliation:
Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran
Aslan Khani Sheikh Rajab
Affiliation:
Department of Mechanical Engineering, Ilkhchi Branch, Islamic Azad University, Ilkhchi, Iran
Hamid Abdi
Affiliation:
Centre for Intelligent Systems Research, Deakin University, Waurn Ponds Campus, Victoria 3217, Australia
*
*Corresponding author. E-mail: s.pedrammehr@gmail.com; spedrammehr@sabanciuniv.edu
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Summary

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.

Keywords

Parallel manipulatorHexarotKinematicsJacobian matrixWorkspace
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1686 - 1703
Copyright
Copyright © Cambridge University Press 2014 

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