Study on a novel 6-DOF combinational parallel manipulator

Author

Zhao, Wei ; Li, Bing ; Yu, Hongjian ; Hu, Ying

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1469

Lastpage

1473

Abstract

A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.

Keywords

Jacobian matrices; manipulator kinematics; numerical analysis; DOF parallel manipulator; Jacobian matrix; degree of freedom; numerical method; position kinematic modeling; robotic manipulator; vector loops equations; Biomimetics; Cognitive robotics; Equations; Fasteners; Fixtures; Interference; Jacobian matrices; Kinematics; Manipulators; Parallel robots; Combinational manipulator; Dexterity; Kinematics; Reconfigurable structure; Workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913217

Filename

4913217