Study on a novel 6-DOF combinational parallel manipulator

  title={Study on a novel 6-DOF combinational parallel manipulator},
  author={Wei Zhao and Bing Li and Hongjian Yu and Ying Hu},
  journal={2008 IEEE International Conference on Robotics and Biomimetics},
A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different… CONTINUE READING