| Issue |
MATEC Web Conf.
Volume 112, 2017
21st Innovative Manufacturing Engineering & Energy International Conference – IManE&E 2017
|
|
|---|---|---|
| Article Number | 05010 | |
| Number of page(s) | 6 | |
| Section | Flexible Manufacturing, Automation and Robotics in Technological Processes | |
| DOI | https://doi.org/10.1051/matecconf/201711205010 | |
| Published online | 03 July 2017 | |
Determining workspace parameters for a new type of 6RSS parallel manipulator based on structural and geometric models
Dunărea de Jos University of Galaţi, Department of Mechanical Engineering, Domnească 111800201, Galaţi, Romania
* Corresponding author: gabriel.andrei@ugal.ro
Workspace geometric modelling of a new type of 6RSS parallel manipulator is described below. In the beginning, the researches undertaken in this area by other authors are highlighted and then a definition of this type of mechanisms is provided. The structural model of the 6RSS manipulator is briefly described. Inverse geometric model and translation subspace methods are used in order to determine the dimensions that define the workspace volume of the parallel manipulator. The reachable workspace is defined as a subset of the whole workspace in relation with the positions achieved by the characteristic point.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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