Development of a Novel Rotary Hexapod with Single Drive

Fomin, Alexey; Glazunov, Victor; Terekhova, A. N.

doi:10.1007/978-3-319-78963-7_19

Cited by 11 publications

(2 citation statements)

References 16 publications

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“…The manipulator includes kinematic chains 3-RUS and 1-S. In [22], a manipulator with a circular guide is presented as a one-DOF system. The transition from six drives to one is realized by installing an additional lever mechanism inside the circular guide, which provides the dependent movement of all carriages from a single drive.…”

Section: Introductionmentioning

confidence: 99%

“…The transition from six drives to one is realized by installing an additional lever mechanism inside the circular guide, which provides the dependent movement of all carriages from a single drive. All of the above discussed manipulators with a circular guide, with the exception of the manipulator given in [22], have drives mounted exclusively on the movable links (carriages). Moreover, the structure of these manipulators is organized in such a way that the possibility of collision between the adjacent carriages is not eliminated.…”

Section: Introductionmentioning

confidence: 99%

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Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%