Inverse Kinematics of 6-UPS parallel Manipulator

Although 90% of robotic manipulators in use are of serial manipulator type, the current research work being done is much more in the field of parallel manipulators. Parallel manipulators have better rigidity, speed and accuracy when compared to serial manipulators. Also its inverse kinematic analysis has a closed form solution where as the same for serial manipulators is cumbersome and mostly the analysis is done with numerical methods. However parallel manipulators have smaller workspace with abundant singularity points within the workspace. Researchers are trying to find algorithm which can be used for dimensional synthesis of parallel manipulators with minimum singularities.

Autorentext

Mr Abhishek Pratap Singh currently working as an Assistant Professor in ITM university, Gurgaon, India.He has a good academic qualification in mechanical engineering as Diploma in Automobile Engg, B.Tech. in Mechanical Engg, M.Tech. in Robotics & Automation. He is now pursuing in Ph.D. from itm university, Gurgaon India