Abstract
A novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed in this work. Compared with general 6-DOF parallel manipulators of six kinematic limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings kinematic advantages such as small footprint and large workspace. The inverse position problem of the manipulator is solved by an analytical approach, upon which velocity equations are formulated. Kinematic performance including workspace and also manipulability are calculated to show the advantages of the new design.
| Original language | English |
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| Title of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 |
| Number of pages | 7 |
| Publisher | IEEE |
| Publication date | 2021 |
| Pages | 8022-8028 |
| ISBN (Print) | 978-1-6654-1715-0 |
| ISBN (Electronic) | 978-1-6654-1714-3 |
| DOIs | |
| Publication status | Published - 2021 |
| Event | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic Duration: 27 Sept 2021 → 1 Oct 2021 |
Conference
| Conference | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 |
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| Country/Territory | Czech Republic |
| City | Prague |
| Period | 27/09/2021 → 01/10/2021 |
| Series | IEEE International Conference on Intelligent Robots and Systems |
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| ISSN | 2153-0858 |
Bibliographical note
Funding Information:This work is financially supported by the Science and Technology Research Program of Chongqing Municipal Education Commission (KJCX2020044), the Chongqing Science and Technology Commission of China (cstc2020jcyjmsxmX0281) and the Innovative Research Group of Chongqing Municipal Education Commission (CXQT19026).
Publisher Copyright:
© 2021 IEEE.