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Dynamic analysis of Hexarot: axis-symmetric parallel manipulator

Published online by Cambridge University Press:  17 July 2017

Siamak Pedrammehr
Affiliation:
Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds Campus, Victoria 3217, Australia
Behzad Danaei
Affiliation:
Human and Robot Interaction Laboratory, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran
Hamid Abdi*
Affiliation:
Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds Campus, Victoria 3217, Australia
Mehdi Tale Masouleh
Affiliation:
Human and Robot Interaction Laboratory, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran
Saeid Nahavandi
Affiliation:
Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds Campus, Victoria 3217, Australia
*
*Corresponding author. E-mail: hamid.abdi@deakin.edu.au

Summary

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.

Type
Articles
Copyright
Copyright © Cambridge University Press 2017 

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