Chalak Qazani, Mohamad Reza, Pedrammehr, Siamak, Rahmani, Arash, Danaei, Behzad, Ettefagh, Mir Mohammad, Rajab, Aslan Khani Sheikh, and Abdi, Hamid (2015) Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system. Robotica, 33. pp. 1686-1703.

PDF (Published Version) - Published Version Restricted to Repository staff only

Abstract

Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. 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. 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. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. 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.

Item ID:	86758
Item Type:	Article (Research - C1)
ISSN:	1469-8668
Copyright Information:	© Cambridge University Press 2014
Date Deposited:	19 Aug 2025 00:49
FoR Codes:	40 ENGINEERING > 4017 Mechanical engineering > 401799 Mechanical engineering not elsewhere classified @ 40% 49 MATHEMATICAL SCIENCES > 4901 Applied mathematics > 490109 Theoretical and applied mechanics @ 60%
SEO Codes:	28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 100%
Downloads:	Total: 1 Last 12 Months: 1
	More Statistics