Development of Kinematic Equations and Determination of Workspace of a Chain Mechanism 6 Dof End-effector with Closed-kinematic
نویسنده
چکیده
In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-eflector workspace results in a general procedure for the workspace determination based on the link constmints. Computer simulation results are presented.
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