Pedrammehr, Siamak, Chalak Qazani, Mohamadreza, Asadi, Houshyar, and Nahavandi, Saeid (2019) Kinematic Manipulability Analysis of Hexarot Simulators. In: Proceedings of the 2019 IEEE International Conference on Industrial Technology. pp. 133-138. From: ICIT 2019: IEEE International Conference on Industrial Technology, 13-15 February 2019, Melbourne, VIC, Australia.

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Abstract

Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.

Item ID:	87039
Item Type:	Conference Item (Research - E1)
ISBN:	978-1-5386-6376-9
Copyright Information:	© 2019 IEEE.
Date Deposited:	28 Aug 2025 02:59
FoR Codes:	40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400706 Field robotics @ 100%
SEO Codes:	28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 100%
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