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Novel 6-DoF dexterous parallel manipulator with CRS kinematic chains
Last modified: 2016-07-09
Abstract
In this research work, a novel parallel manipulator with 6 degrees of freedom (DoF) and high positioning and orienting rate is introduced. Kinematics and Jacobian analysis are investigated. Workspace of mechanism considering different rotation capabilities are computed and illustrated in Cartesian coordinates. Defining global maximum and minimum singular values of homogenized jacobian matrix through the workspace has been utilized in order to synthesis positioning and orienting rates capability of mechanism. Thus, improving high rates of displacement is achieved by elimination of moving elements and changing kinematic chains compared with general stewart-gough mechanism, which makes it suitable in pick and place or motion stabilizer devices and high speed machining applications with lower payload.
Keywords
Kinematics, Workspace, 6-CRS, Parallel robot
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