Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator
Pan Mingzhang
Wang Shuo
Li Jing
Liang Ke
Abstract：Aiming at the problems of large inertia,low flexibility and difficulty in working in narrow space of traditional manipulators,a new type of wire-driven manipulator with 6-DOF is designed,and its forward and inverse kinematics are studied.The kinematics characteristics of the rotation joint,parallelogram joint and snake joint in the new manipulator are analyzed,and the forward and inverse kinematics models of the manipulator are established.The simulation experiment is carried out in Matlab environment,and the position and posture of the proposed forward and inverse kinematics model are verified.The results show that the proposed kinematics mod-el can be well used for the end position control of the manipulator.Finally,the workspace of the manipulator is calculated by the Monte Carlo method.
Keywords：Wire-driven manipulatorKinematicSimulation analysisWorkspace
Publication Date：2024-06-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 50-57 )