![]() 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. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. 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. 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. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. In: 2013 IEEE/RSJ International Conference on Intelligent Robots. However, most of the proposed parallel manipulators suffer from a limited workspace. Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects. Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. ![]()
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