Inverse, Direct Kinetics and Differential Kinematic Control of Parallel Robot with Six Degrees of Hexa Freedom – Hunt

Abstract

Parallel robots are defined as mechanisms with at least two independent links which connected a fixed platform to a final effector. This configuration has the advantage of distributing the loads applied to the final effector, providing greater rigidity, high accelerations and precision. However, it is a closed kinematic chain, with a work space limited by the restrictions introduced by its configuration. But despite its disadvantage in terms of workspace, it has comparative advantages with respect to serial robots make it the focus of study for multidirectional printing mechanisms. Therefore, in this work It calculated the direct, kinematic model of a platform with 6 degrees of freedom type RUS and differential kinematic control.