This paper presents a novel six-degrees-of-freedom spatial hybrid manipulator and the analysis of its forward kinematics. The proposed manipulator has three limbs of identical architecture connecting a hexagonal fixed platform to a moving platform in the form of an equilateral triangle. The limbs are spaced symmetrically w.r.t. the fixed platform. Each limb consists of a planar five-bar mechanism at its base, the tip of which connects to the moving platform via a passive RS link. The forward kinematic problem of the manipulator is reduced to that of a circle intersecting an oct-circular curve of degree 16 in its own plane. As expected, this leads to a maximum of 16 isolated (complex) solutions, the reals among which lead to poses with a certain mirror-symmetry. Consequently, a polynomial of only degree 8 has to be solved eventually. Coefficients of this polynomial have been found as closed-form symbolic expressions in the architecture parameters and input variables. The theoretical results are demonstrated and validated numerically using an example.


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    Titel :

    Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Ramesh, Shashank (Autor:in) / Golla, Pranathi (Autor:in) / Prasad, Prem Kumar (Autor:in) / Bandyopadhyay, Sandipan (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    2022-06-18


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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