Kinematic Manipulability Analysis of Hexarot Simulators

Conference Publication ResearchOnline@JCU
Pedrammehr, Siamak;Chalak Qazani, Mohamadreza;Asadi, Houshyar;Nahavandi, Saeid
Mohamadreza Chalak Qazani
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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Pages Count

6

Location

Melbourne, VIC, Australia

Publisher

Institute of Electrical and Electronics Engineers

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Publisher Location

Piscataway, NJ, USA

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DOI

10.1109/ICIT.2019.8755129