Inverse kinematics of a 6-DOF hybrid robot including two parallel modules

The paper considers a new relative manipulation hybrid 6-DOF robot. It consists of two modules of the parallel design positioned one above the other. The robot upper module is a 4-DOF delta mechanism, and the lower one is the 2-DOF mechanism with a circular guide. The proposed design provides the robot with the improved kinematic characteristics, which could not be achieved with a separate use of the upper or lower modules. The paper proposes the developed algorithm for solving the inverse kinematics problem making it possible to compute displacements in the drive links for a given relative module configuration. The algorithm includes two steps: determining the module configuration relative to the fixed coordinate system and solving the inverse kinematics problem for each module separately. The proposed algorithm performance is demonstrated using the example of simulating the trajectory of the upper robot module relative to the lower one.
EDN: JGQBVO, https://elibrary/jgqbvo

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