000021361 001__ 21361
000021361 005__ 20170522124351.0
000021361 04107 $$aeng
000021361 046__ $$k2017-05-15
000021361 100__ $$aLaski P., A.
000021361 24500 $$aKINEMATICS AND WORKSPACE ANALYSIS FOR A 6-DOF PARALLEL MANIPULATOR WITH COAXIAL CTUATED ARMS

000021361 24630 $$n23.$$pEngineering Mechanics 2017
000021361 260__ $$bBrno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
000021361 506__ $$arestricted
000021361 520__ $$2eng$$aThe article presents a kinematic model of a manipulator with a closed kinematic change, with coaxial actuated arms, Hexarot type. The structure references widely used SCARA type industrial robots. The discussed coaxial manipulator structure posses six coaxial rotation drives with active arms, to which passive drive arms are mounted via spherical joints. The work platform, to which the effector is mounted, has been designed on a regular triangle base, and connects passive arms via spherical joints. The workspace shape has been designed on the basis of sample geometric dimension.

000021361 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000021361 653__ $$aParallel manipulator, 6-DOF, Hexarot, Kinematics, Workspace.

000021361 7112_ $$aEngineering Mechanics 2017$$cSvratka, CZ$$d2017-05-15 / 2017-05-18$$gEM2017
000021361 720__ $$aLaski P., A.
000021361 8560_ $$ffischerc@itam.cas.cz
000021361 8564_ $$s1341506$$uhttps://invenio.itam.cas.cz/record/21361/files/0586.pdf$$yOriginal version of the author's contribution in proceedings, page 586, section MCT.
000021361 962__ $$r21225
000021361 980__ $$aPAPER