Planning a trajectory of a 6-DOF parallel robot ⟨⟨ HEXA ⟩⟩

被引：0

作者：

Hasnaa, El Hansali ^{[1
]}

Mohammed, Bennani ^{[1
]}

机构：

[1] Univ Mohammed V Rabat, ENSET Rabat, Lab Mech & Ind Proc & Proc LM2PI, Rabat, Morocco

来源：

2016 INTERNATIONAL CONFERENCE ON ELECTRICAL AND INFORMATION TECHNOLOGIES (ICEIT) | 2016年

关键词：

Inverse Kinematic model; planning trajectory; robot "HEXA; simulation in MATLAB;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The parallel structure robot with 6-DOF "HEXA" has found use in high-end systems when multiple degrees of freedom and large workspace are required. In this paper, we establish the inverse kinematic model of robot "HEXA" in order to follow various given trajectories. However, simulating robots is one of the essential elements of modern manufacturing plants, so in this work we plan simples and complexes trajectories, and we simulate the capacity of the robot to follow these trajectories in order to be efficient in planning tasks in parallel structures such as the legged robots.

引用

页码：300 / 305

页数：6

共 50 条

[21] A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators
Min, Kang
Ni, Fenglei
Zhang, Guojun
Shu, Xin
Liu, Hong
[J]. ASSEMBLY AUTOMATION, 2022, 42 (05) : 616 - 627
[22] Stiffness-based trajectory planning of a 6-DOF cable-driven parallel manipulator
Zhang, Wenjia
Shang, Weiwei
Zhang, Bin
Zhang, Fei
Cong, Shuang
[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2017, 231 (21) : 3999 - 4011
[23] Trajectory planning technique based on curved-layered and parallel contours for 6-DOF deposition
Guacheta-Alba, Juan C.
Gonzalez, Sebastian
Mauledoux, Mauricio
Aviles, Oscar F.
Dutra, Max Suell
[J]. IEEE LATIN AMERICA TRANSACTIONS, 2023, 21 (10) : 1088 - 1094
[24] Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery
Wang, Qiao
Wang, Zhanbin
Shuai, Mei
[J]. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2020, 4 (01) : 82 - 94
[25] Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery
Qiao Wang
Zhanbin Wang
Mei Shuai
[J]. International Journal of Intelligent Robotics and Applications, 2020, 4 : 82 - 94
[26] A new 6-DOF parallel robot with simple kinematic model
Seward, Nicholas
Bonev, Ilian A.
[J]. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 4061 - 4066
[27] Optimal Design of a 6-DOF Parallel Robot for Precise Manipulation
Wang, Lefeng
Rong, Weibin
Qi, Limin
Qin, Zhigang
[J]. 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 3933 - 3937
[28] 6-DOF Wheeled Parallel Robot and Its Design Method
Chu H.
Qi B.
Wang H.
Qiu X.
Zhou Y.
[J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2023, 59 (03): : 46 - 53
[29] Performance analysis and error compensation of a 6-DOF parallel robot
Ma, Li
Cheng, Weiming
Rong, Weibin
Sun, Lining
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 2484 - 2488
[30] Study of 6-DOF parallel robot using for navigating simulation
Han, J.W.
Jiang, H.Z.
[J]. Gaojishu Tongxin/High Technology Letters, 2001, 11 (03):

← 1 2 3 4 5 →