Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar Asadi, S. Nahavandi
{"title":"Hexarot模拟器的运动学可操作性分析","authors":"Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar Asadi, S. Nahavandi","doi":"10.1109/ICIT.2019.8755129","DOIUrl":null,"url":null,"abstract":"Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"72 1","pages":"133-138"},"PeriodicalIF":0.0000,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"32","resultStr":"{\"title\":\"Kinematic Manipulability Analysis of Hexarot Simulators\",\"authors\":\"Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar Asadi, S. Nahavandi\",\"doi\":\"10.1109/ICIT.2019.8755129\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.\",\"PeriodicalId\":6701,\"journal\":{\"name\":\"2019 IEEE International Conference on Industrial Technology (ICIT)\",\"volume\":\"72 1\",\"pages\":\"133-138\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-02-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"32\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE International Conference on Industrial Technology (ICIT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIT.2019.8755129\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE International Conference on Industrial Technology (ICIT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2019.8755129","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic Manipulability Analysis of Hexarot Simulators
Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
