Design and analysis of a six degrees of freedom serial–parallel robotic mechanism with multi-degree of freedom legs

A novel mobile serial–parallel mechanism with legs for in-pipe use is proposed. The mobile robotic mechanism is composed of two identical three-universal joint–prismatic joint–universal joint parallel mechanisms connected in series and two gripping modules. The proposed parallel mechanism has two ro...

Full description

Bibliographic Details
Main Authors: Ziwei Zhang, Guoying Meng
Format: Article
Language:English
Published: SAGE Publishing 2018-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881418812643