Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Abstract

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.