Conceptual Design and Kinematic Analysis of a Parallel Rotational Robot

  • Fray J. Herrera
  • Hernan Gonzalez Acuña
  • Omar Lengerke
  • Max Suell Dutra
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7508)


This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement; the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360o rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform.


parallel robot inverse kinematics conceptual design 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Merlet, J.P.: Parallel Robots, 2 edn. Springer (2006). Google Scholar
  2. 2.
    Pollard, W.L.V.: Spray painting machine. United States Patent Nº 2.213.108 (1940)Google Scholar
  3. 3.
    Stewart, D.: A platform with 6 degrees of freedom. In: Proceedings of the Institution of Mechanical Engineers, vol. 180, pp. 371–386 (1965)Google Scholar
  4. 4.
    Gonzalez, H.: Projeto Mecatrônico De Uma Plataforma Stewart Para Simulação Dos Movimentos Nos Navios. Universidade Federal de Rio de Janeiro (2009)Google Scholar
  5. 5.
    Zabalza, I., Ros, J., Gil, J., Pintor, J., Jimenez, J., Scott, T.: A new kinematic structure for a 6-dof decoupled parallel manipulator. In: Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, pp. 12–15 (2002)Google Scholar
  6. 6.
    Yime, E., Moreno, H., Saltaren, R.: A Novel 6 dof Parallel Robot with Decoupled Translation and Rotation. In: 13th World Congress in Mechanism and Machine Science (2011)Google Scholar
  7. 7.
    Schmitt, D.J., Benavides, G.L., Bieg, L.F., Kozlowsk, D.M.: Analysis of the Rotopod: An All Revolute Parallel Manipulator. Sandia National Laboratories (1998)Google Scholar
  8. 8.
    Bieg, L.F.: Six Degrees of Freedom Multi-Axis Positioning System, U.S. Patent 5901936Google Scholar
  9. 9.
    Merlet, J.P.: Kinematics of the wire-driven parallel robot marionet using linear actuators. In: Proceedings of the IEEE Int. Conf. Robotics and Automation, pp. 3857–3862 (2008)Google Scholar
  10. 10.
    Liu, K.F., Lewis, J.M.: Kinematic Analysis of a Stewart plataform Manipulator. IEEE Transactions on Industrial Electronics 40(2), 282–293 (1993)CrossRefGoogle Scholar
  11. 11.
    Perng, M.H., Hsiao, L.: Inverse kinematic Solutions of a fully parallel Robot with singularity robustness. The International Journal of Robotics Research 18(6), 575–583 (1999)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Fray J. Herrera
    • 1
  • Hernan Gonzalez Acuña
    • 1
  • Omar Lengerke
    • 1
  • Max Suell Dutra
    • 2
  1. 1.Research Group in Control and Mechatronics, Mechatronics Engineering ProgramUniversidad Autonoma de BucaramangaBucaramangaColombia
  2. 2.Research Group in Machine Design and Robotics, Department of Mechanical EngineeringCOPPE, UFRJ, Federal University of Rio de JaneiroRio de JaneiroBrazil

Personalised recommendations