Kinematic Analysis of Novel 6-DOF Robot

  • Sergey V. KheyloEmail author
  • Andrey V. Tsarkov
  • Oleg A. Garin
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1126)


This article is devoted to the novel spatial parallel mechanism synthesis. The new mechanism is the 6-DOF extension of the Cartesian parallel robot. Suggested mechanism consists of six actuators and of six kinematic chains. Each leg is attached to the mobile platform via a spherical joint. In each of the six legs, there are passive revolute joints, the axes of which are parallel to the direction of the prismatic joint. This parallel robot has a large workspace. Partial kinematic decoupling of mechanism allows realizing of joint progressive and rotational movements as well as separate ones. The kinematic problem is considered in this paper. The velocity analysis solution is presented too. The proposed mechanism can be applied to additive technologies, robotic–assisted surgery, different instrumentation systems, and orienting mechanisms as well as to the biological structural systems.


Parallel robot Kinematic problem Singularity Velocity analysis Workspace 


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Sergey V. Kheylo
    • 1
    Email author
  • Andrey V. Tsarkov
    • 2
  • Oleg A. Garin
    • 3
  1. 1.The Kosygin State University of RussiaMoscowRussia
  2. 2.Bauman Moscow State Technical University Kaluga BranchMoscowRussia
  3. 3.Bauman Moscow State Technical UniversityMoscowRussia

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