Rasim Alizade

A forward and reverse displacement analysis of a 6-DOF in-parallel manipulator

Abstract A kinematic analysis of a 6 degree of freedom (DOF) parallel manipulator which has three legs, mounted on moving sliders is described. Therefore, the 6 DOF are provided by the slider displacements and by changing the leg lengths. This manipulator structure provides a large functional workspace. A forward displacement analysis is performed by using a decomposition method and reduces to the one non-linear equation solution by using an interaction method. Two distinct reverse displacement analyses are given. A manipulator workspace determination and a method for the specification of the platform position in space.

A forward and reverse displacement analysis of an in-parallel spherical manipulator

Abstract A displacement analysis is performed for an in-parallel spherical manipulator. Forward and reverse displacement analyses are performed. Two distinct reverse displacement analyses are given: a manipulator workspace determination and a platform determination is given. The displacement analysis is performed by using a decomposition method.

Derivation of Input/Output Relationships for the Bennett 6R Linkages Based on the Method of Decomposition

The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spherical mechanisms and then removing one of the common links. This paper presents the derivation of the input/output relationships for these mechanisms using the decomposition method. This method is based on writing the input/output equations for the two imaginary loops comprising the 6R mechanism and then eliminating the imaginary joint variable. It is found that the resulting input/output equations contain up to 4th power of trigonometric terms, such as cos4 θ.