This repository provides insights into inverse kinematics of the famous Exechon Tripod robot and visual mockup representations
The video below shows a simple trajectory followed by parallel robot and different working mode configurations.
A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup.
The inverse kinematics of exechon parallel robot is visualized and seen normally for a working configuration of parallel robot is shown in the graphic mockup below
If you found this code useful, we would be grateful if you cite the following reference:
[1] Sagar, Keerthi, Vishal Ramadoss, and Matteo Zoppi. "Towards High Dynamic Operations With Parallel-Serial Hybrid Robots." International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol. 87363. American Society of Mechanical Engineers, 2023.
[2] Zoppi, Matteo, Dimiter Zlatanov, and Rezia Molfino. "Kinematics analysis of the Exechon tripod." International design engineering technical conferences and computers and information in engineering conference. Vol. 44106. 2010.
Bibtex:
@inproceedings{sagar2023towards,
title={Towards High Dynamic Operations With Parallel-Serial Hybrid Robots},
author={Sagar, Keerthi and Ramadoss, Vishal and Zoppi, Matteo},
booktitle={International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
volume={87363},
pages={V008T08A064},
year={2023},
organization={American Society of Mechanical Engineers}
}
@inproceedings{zoppi2010kinematics,
title={Kinematics analysis of the Exechon tripod},
author={Zoppi, Matteo and Zlatanov, Dimiter and Molfino, Rezia},
booktitle={International design engineering technical conferences and computers and information in engineering conference},
volume={44106},
pages={1381--1388},
year={2010}
}
This repository is maintained by:
 |
Vishal Ramadoss |