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Dynamic analysis of Hexarot: axis-symmetric parallel manipulator

journal contribution
posted on 2018-02-01, 00:00 authored by Siamak Pedrammehr, B Danaei, Hamid AbdiHamid Abdi, M T Masouleh, Saeid Nahavandi
In this study, the kinematics and dynamics of a six-degree-of-freedom parallel manipulator, known as Hexarot, are evaluated. Hexarot is classified under axis-symmetric robotic mechanisms. The manipulator comprises a cylindrical base column and six actuated upper arms, which are connected to a platform through passive joints and six lower arms. The actuators of the mechanism are located inside a cylindrical-shaped base, which allows the mechanism to rotate infinitely about the axes of the latter column. In the context of kinematics, the inverse-kinematic problem is solved using positions, velocities, and accelerations of the actuated joints with respect to the position, orientation, and motion of the platform. Accordingly, the main objective of this study is to dynamically model the manipulator using the Newton-Euler approach. For validation, the obtained dynamic model of the Hexarot manipulator is simulated in MATLAB based on the formulations presented in this paper. The kinematic and dynamic models of the manipulator are simulated for a given motion scenario using MATLAB and ADAMS. The results of the mathematical model obtained using MATLAB are in good agreement with that using the ADAMS model, confirming the effectiveness of the proposed mathematical model.

History

Journal

Robotica

Volume

36

Issue

2

Pagination

225 - 240

Publisher

Cambridge University Press

Location

Cambridge, Eng.

ISSN

0263-5747

eISSN

1469-8668

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2017, Cambridge University Press