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This paper proposes a novel three-legged (6+3)-degree-of-freedom kinematically redundant hybrid parallel robot with gantry-type legs. The use of gantry mechanisms in the legs leads to a very simple inverse kinematic solution with almost no calculations. Through utilizing kinematic redundancies in the legs of the parallel manipulator, an increasingly larger rotational workspace can be attained. Moreover, it is shown that the proposed parallel robot is isotropic throughout the workspace, which is a significant advantage for practical applications.

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Kinematic Analysis of an Isotropic Kinematically Redundant (6+3)-DOF Hybrid Parallel Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Kefei Wen,
  • Qide Ma,
  • Yuyang Zhang,
  • Yifei Liu,
  • Jia Hong Sun

摘要

This paper proposes a novel three-legged (6+3)-degree-of-freedom kinematically redundant hybrid parallel robot with gantry-type legs. The use of gantry mechanisms in the legs leads to a very simple inverse kinematic solution with almost no calculations. Through utilizing kinematic redundancies in the legs of the parallel manipulator, an increasingly larger rotational workspace can be attained. Moreover, it is shown that the proposed parallel robot is isotropic throughout the workspace, which is a significant advantage for practical applications.