2017•Unpublished venueRequires access

Kinematic analysis of a novel type of 6-DOF hybrid serial-parallel manipulator

Jiabao Xu, Zhiyong Qu, Dacheng Cong, Junwei Han

Abstract

A novel type of 6-DOF serial-parallel manipulator is proposed. With the application of the matrix theory, the inverse kinematics of the manipulator analyzed and the Jacobian matrix is obtained. Besides, the simulation model is developed in MATLAB/Simulink based on inverse kinematics. In the ending, the correctness of the simulation model is verified by the co-simulation in ADAMS and MATLAB.

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Available abstract

Key concepts: Jacobian matrix and determinant, Correctness, Serial manipulator, MATLAB, Kinematics, Parallel manipulator, Inverse kinematics, Computer science