Abstract
The study considers inverse kinematics (position problem) and velocity analysis of a six-degree-of-freedom hexapod-type manipulator with a circular guide. The structure of the proposed manipulator provides location of all drives fixed on the base and excludes the collision of the adjacent carriages when they move along the circular guide. The inverse kinematics provides the explicit relations between the platform coordinates and the driven (controlled) ones. The velocity analysis follows next and presents a procedure to find the driven velocities based on the platform ones. Example implemented in MATLAB demonstrates the performance of the proposed algorithms. As a case study, the platform motion along a screw trajectory is considered.
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Acknowledgements
The reported study was carried out with the support of the Russian President Grant according to the research project MK-2781.2019.8.
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Fomin, A., Antonov, A., Petelin, D., Glazunov, V., Ceccarelli, M. (2021). Inverse Kinematics and Velocity Analysis of a 6-DOF Hexapod-Type Manipulator with a Circular Guide. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_2
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