KINEMATICS AND WORKSPACE ANALYSIS FOR A 6-DOF PARALLEL MANIPULATOR WITH COAXIAL CTUATED ARMS

被引：0

作者：

Laski, P. A. ^{[1
]}

机构：

[1] Fac Mechatron & Machine Design, Dept Automat & Robot, Aleja Tysiaclecia Panstwa Polskiego 7, PL-25314 Kielce, Poland

来源：

ENGINEERING MECHANICS 2017 | 2017年

关键词：

Parallel manipulator; 6-DOF; Hexarot; Kinematics; Workspace; SYSTEM;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：586 / 589

页数：4

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