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.
Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
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