An experimental study on motion error of hexarot parallel manipulator

  • Mohammad Reza Chalak QazaniEmail author
  • Siamak Pedrammehr
  • Arash Rahmani
  • Mehran Shahryari
  • Aslan Khani Sheykh Rajab
  • Mir Mohammad Ettefagh


In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced and investigated. This mechanism has six rotating arms, and by rotation of arms about the base, positioning and desired movement of the mechanism is achieved. Sine parallel mechanisms have a nonlinear motion while moving from an initial position to a desired position, investigation of nonlinear error in such mechanisms is of paramount importance. In this paper, inverse and forward kinematics of the mechanism are studied. Nonlinear error of the mechanism’s motion in its workspace is extracted using mid-oscillating circle and kinematic relations as well. Moreover, effective parameters on nonlinear motion error of mechanism are determined. The results obtained by theoretical method are further verified through image processing experimental tests. It is found that the results of the theoretical analysis and experimental test are in good consistency.


Parallel mechanism Hexarot Kinematics Nonlinear error Image processing 


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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Mohammad Reza Chalak Qazani
    • 1
    Email author
  • Siamak Pedrammehr
    • 2
  • Arash Rahmani
    • 5
  • Mehran Shahryari
    • 3
  • Aslan Khani Sheykh Rajab
    • 4
  • Mir Mohammad Ettefagh
    • 5
  1. 1.Faculty of Technology & Engineering, Department of Mechanical EngineeringTarbiat Modares UniversityTehranIran
  2. 2.Faculty of Engineering and Natural SciencesSabanci UniversityIstanbulTurkey
  3. 3.Faculty of EngineeringAhar Branch, Islamic Azad UniversityAharIran
  4. 4.Department of Mechanical EngineeringIlkhchi Branch, Islamic Azad UniversityIlkhchiIran
  5. 5.Faculty of Mechanical EngineeringUniversity of TabrizTabrizIran

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