Title :
Kinematic analysis of a novel 6-DOF parallel manipulator
Author :
Cleary, Kevin ; Brooks, Thurston
Author_Institution :
Hughes STX Robotics, Lanham, MD, USA
Abstract :
The kinematics of a Cartesian six-degree-of-freedom parallel manipulator is described. The manipulator consists of a base plate, a top plate, and three connecting legs in an all-revolute-joint design. The inverse kinematics are presented in closed form, and a numerical solution for the forward kinematics is given. The kinematic equations presented have been implemented in the real-time control software and could be run at a high sampling rate due to their efficient arrangement
Keywords :
inverse problems; kinematics; manipulators; 6-DOF parallel manipulator; Cartesian manipulator; SMARTee mechanism; all-revolute-joint design; base plate; connecting legs; forward kinematics; high sampling rate; industrial applications; inverse kinematics; kinematic equations; real-time control software; top plate; Actuators; Bandwidth; Equations; Joining processes; Kinematics; Leg; Manipulators; Parallel robots; Sampling methods; Trademarks;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292061
