Forward and inverse kinematics of a hybrid series-parallel manipulator
نویسندگان
چکیده
In this paper, the forward and inverse kinematic relations of a hybrid 6-DOF robotic manipulator, named the H6AR, are presented. The H6AR consists of twin 2-DOF anthropomorphic arms that can move in the vertical plane. These arms are connected, at one end, to a 1-DOF waist and constrained, at the other end, by a novel wrist assembly. The wrist contains an actuator only for the pitching motion and due to its unique design, by moving only the twin arms, the yaw and roll motions are generated. Closed-form forward and inverse kinematic relations are presented by following the Denavit-Hartenberg technique.
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