Abstract
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.
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Kheylo, S.V., Tsarkov, A.V., Garin, O.A. (2020). Kinematic Analysis of Novel 6-DOF Robot. In: Hu, Z., Petoukhov, S., He, M. (eds) Advances in Artificial Systems for Medicine and Education III. AIMEE 2019. Advances in Intelligent Systems and Computing, vol 1126. Springer, Cham. https://doi.org/10.1007/978-3-030-39162-1_40
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DOI: https://doi.org/10.1007/978-3-030-39162-1_40
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