HEXAMOBILE PARALLEL MANIPULATOR WITH 3 PENTAGONAL KINEMATIC CHAINS

Abstract

The paper presents a new kinematic scheme of a hexamobile spatial manipulator with 3 parallel kinematic chains. Each parallel kinematic chain is a spatial pentagon with two active mobilities achieved by means of electric motors through a worm gearbox. Based on this new concept, an experimental prototype with an adequate constructive solution has been accomplished. This design can be used in inverted position as a machine in amusement parks. The paper approaches both the structural-topological analysis of the hexagonal parallel manipulator and the direct and inverse kinematic analyses of the new proposed kinematic scheme.

Keywords

• hexamobile parallel manipulator
• mobility
• pentagonal kinematic chain
• direct kinematics
• inverse kinematics.