Kinematic Manipulability Analysis of Hexarot Simulators

Conference Publication ResearchOnline@JCU

Pedrammehr, Siamak;Chalak Qazani, Mohamadreza;Asadi, Houshyar;Nahavandi, Saeid

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.

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Publication Name

2019 IEEE International Conference on Industrial Technology (ICIT)

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ISBN/ISSN

978-1-5386-6376-9

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Location

Melbourne, VIC, Australia

Publisher

IEEE

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Publisher Location

Piscataway, NJ, USA

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DOI

10.1109/ICIT.2019.8755129