Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot
This paper presents an analytical inverse kinematic simulation method to define the kinematics aspect of a 6-degree-of-freedom (DOF) Hexa parallel robot. The robot was designed using six independent links, each constructed of upper and lower links. Every link has three joints with a 6-RSS configurat...
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| Format: | Article |
| Language: | English |
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Shahid Chamran University of Ahvaz
2025-10-01
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| Series: | Journal of Applied and Computational Mechanics |
| Subjects: | |
| Online Access: | https://jacm.scu.ac.ir/article_19458_4fe806b4f1d7059621d028df54f600d1.pdf |
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| _version_ | 1849423239267221504 |
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| author | Hendriko Hendriko Nur Khamdi Jajang Jaenudin Roni Novison Muhammad Ikhsan |
| author_facet | Hendriko Hendriko Nur Khamdi Jajang Jaenudin Roni Novison Muhammad Ikhsan |
| author_sort | Hendriko Hendriko |
| collection | DOAJ |
| description | This paper presents an analytical inverse kinematic simulation method to define the kinematics aspect of a 6-degree-of-freedom (DOF) Hexa parallel robot. The robot was designed using six independent links, each constructed of upper and lower links. Every link has three joints with a 6-RSS configuration. This configuration is aimed to enhance motion flexibility. In this study, the orientation of the end effector is adjusted based on its position to larger the reach and workspace. The proposed method was implemented to create a computer program in MATLAB, which was used to calculate the motors' motion during a complex path. The results indicate that the developed algorithm can determine the rotation motion of all the motors, which are used to place the end of the arm tool to the target position and orientation. Another verification test was conducted to assess the applicability of the proposed algorithm to a physical robot. The results demonstrated that the proposed approach could perform complex tasks accurately. Moreover, the comparison test proved that the proposed method is more efficient regarding computational time than the Jacobian method. It is the main advantage of the method compared to numerical based method. |
| format | Article |
| id | doaj-art-6a0ba30d29354cd7b79d99d2c189fd4d |
| institution | Kabale University |
| issn | 2383-4536 |
| language | English |
| publishDate | 2025-10-01 |
| publisher | Shahid Chamran University of Ahvaz |
| record_format | Article |
| series | Journal of Applied and Computational Mechanics |
| spelling | doaj-art-6a0ba30d29354cd7b79d99d2c189fd4d2025-08-20T03:30:41ZengShahid Chamran University of AhvazJournal of Applied and Computational Mechanics2383-45362025-10-011141172118210.22055/jacm.2025.48048.494519458Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel RobotHendriko Hendriko0Nur Khamdi1Jajang Jaenudin2Roni Novison3Muhammad Ikhsan4Mechatronics Engineering Department, Politeknik Caltex Riau, Pekanbaru 28265, Riau Province, IndonesiaMechatronics Engineering Department, Politeknik Caltex Riau, Pekanbaru 28265, Riau Province, IndonesiaMechatronics Engineering Department, Politeknik Caltex Riau, Pekanbaru 28265, Riau Province, IndonesiaMechatronics Engineering Department, Politeknik Caltex Riau, Pekanbaru 28265, Riau Province, IndonesiaMechatronics Engineering Department, Politeknik Caltex Riau, Pekanbaru 28265, Riau Province, IndonesiaThis paper presents an analytical inverse kinematic simulation method to define the kinematics aspect of a 6-degree-of-freedom (DOF) Hexa parallel robot. The robot was designed using six independent links, each constructed of upper and lower links. Every link has three joints with a 6-RSS configuration. This configuration is aimed to enhance motion flexibility. In this study, the orientation of the end effector is adjusted based on its position to larger the reach and workspace. The proposed method was implemented to create a computer program in MATLAB, which was used to calculate the motors' motion during a complex path. The results indicate that the developed algorithm can determine the rotation motion of all the motors, which are used to place the end of the arm tool to the target position and orientation. Another verification test was conducted to assess the applicability of the proposed algorithm to a physical robot. The results demonstrated that the proposed approach could perform complex tasks accurately. Moreover, the comparison test proved that the proposed method is more efficient regarding computational time than the Jacobian method. It is the main advantage of the method compared to numerical based method.https://jacm.scu.ac.ir/article_19458_4fe806b4f1d7059621d028df54f600d1.pdfhexa robotinverse kinematics6-dofanalytical methodparallel robot |
| spellingShingle | Hendriko Hendriko Nur Khamdi Jajang Jaenudin Roni Novison Muhammad Ikhsan Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot Journal of Applied and Computational Mechanics hexa robot inverse kinematics 6-dof analytical method parallel robot |
| title | Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot |
| title_full | Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot |
| title_fullStr | Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot |
| title_full_unstemmed | Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot |
| title_short | Analytical Inverse Kinematics-Based Method for a 6-DOF Hexa Parallel Robot |
| title_sort | analytical inverse kinematics based method for a 6 dof hexa parallel robot |
| topic | hexa robot inverse kinematics 6-dof analytical method parallel robot |
| url | https://jacm.scu.ac.ir/article_19458_4fe806b4f1d7059621d028df54f600d1.pdf |
| work_keys_str_mv | AT hendrikohendriko analyticalinversekinematicsbasedmethodfora6dofhexaparallelrobot AT nurkhamdi analyticalinversekinematicsbasedmethodfora6dofhexaparallelrobot AT jajangjaenudin analyticalinversekinematicsbasedmethodfora6dofhexaparallelrobot AT roninovison analyticalinversekinematicsbasedmethodfora6dofhexaparallelrobot AT muhammadikhsan analyticalinversekinematicsbasedmethodfora6dofhexaparallelrobot |