Calculation of Drive Mechanism for Novel Rotary Hexapod with Single Motor

The article considers a novel parallel mechanism with drives located on the base at different angles to its plane. This arrangement allows performing a relative movement between objects under water or in space (in aggressive environments). The new mechanism topology is compact for transportation and efficient for operation in aggressive environments. Structural synthesis has been performed; the number of degrees of freedom of the output link was calculated. A general approach to solving the inverse kinematics problem of positions is proposed and an example for a kinematic chain is shown. Denavit — Hartenberg matrices are used to solve the problem of positions. The position of the output link described by this matrix is used to represent the points of this link in the base coordinate system. The constraint equations are applied, which are the distances between the points of the base and the output link.

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Calculation of Drive Mechanism for Novel Rotary Hexapod with Single Motor

Cited by 3 publications

References 7 publications

Forward Kinematic Analysis of a Rotary Hexapod

Forward Kinematic Analysis of a Rotary Hexapod

Review of Technical Solutions for Parallel Mechanisms with Flexible Links (Cable-Driven Robots (CDR))

Design and Analysis of Parallel Mechanism with Linear Drives Located on the Base at Specified Angles

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