Abstract
This paper describes a new structure of a six-DOF parallel robot. First known planar three-DOF double-triangular structure is modified by replacing the stationary triangle with a circle. This increases the work envelope considerably especially when rotational motions are required. The ability for unlimited rotational motion allows extending the structure into one six-DOF by using two sets of stationary circles and moveable triangles. Each set can actuate the moving triangle in a planar three-DOF motion and hence actuate a line connecting the centers of the movable triangles in four-DOF. The robot’s end-effector is attached to a link along this line while rotation about and translation along this line are obtained by the additional rotational DOF of the movable triangles. The solution of the direct kinematics of this six-DOF manipulator is given in a closed-form and it is shown that at most, four different solutions exist.
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© 1998 Springer Science+Business Media Dordrecht
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Brodsky, V., Glozman, D., Shoham, M. (1998). Double Circular-Triangular Six-Degrees-of-Freedom Parallel Robot. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_16
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DOI: https://doi.org/10.1007/978-94-015-9064-8_16
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
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