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Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions

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Recent Advances in Mechanism Design for Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

Abstract

In this paper, a parallel mechanism with six degrees of freedom is presented with capability for decoupled translational and rotational movements as a significant advantage for use in lifting and transport operations for measuring, assembly, manufacturing operations, working within a limited workspace. Direct and inverse kinematics is formulated for the proposed mechanism with the capability to provide rotational and translational in different operation modes.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Research Institute of RAS, Moscow, Russia

    V. Glazunov

  2. Moscow State University of Design and Technology, Moscow, Russia

    N. Nosova

  3. University of Cassino and South Latium, Cassino, Italy

    M. Ceccarelli

Authors
  1. V. Glazunov
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  2. N. Nosova
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  3. M. Ceccarelli
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Corresponding author

Correspondence to V. Glazunov .

Editor information

Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

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Glazunov, V., Nosova, N., Ceccarelli, M. (2015). Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_39

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  • DOI: https://doi.org/10.1007/978-3-319-18126-4_39

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

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