HEXAMOBILE PARALLEL MANIPULATOR WITH 3 PENTAGONAL KINEMATIC CHAINS
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 pr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Academica Brancusi
2021-05-01
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| Series: | Fiabilitate şi Durabilitate |
| Subjects: | |
| Online Access: | https://www.utgjiu.ro/rev_mec/mecanica/pdf/2021-01/04_Ovidiu%20ANTONESCU,%20Liviu%20UNGUREANU,%20Paun%20ANTONESCU%20-%20HEXAMOBILE%20PARALLEL%20MANIPULATOR%20WITH%203%20PENTAGONAL%20KINEMATIC%20CHAINS.pdf |
| Summary: | 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. |
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| ISSN: | 1844-640X |