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

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