KINEMATICS AND WORKSPACE ANALYSIS FOR A 6-DOF PARALLEL MANIPULATOR WITH COAXIAL CTUATED ARMS
Abstract eng: The 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.
Publisher:
Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
Conference Title:
Conference Title:
Engineering Mechanics 2017
Conference Venue:
Svratka, CZ
Conference Dates:
2017-05-15 / 2017-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-05-22, last modified 2017-05-22
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