Abstract
In this paper, an improved mathematical model for a novel hyper redundant hybrid mechanism with 12 DOFs is presented. This hyper redundant hybrid mechanism is composed sequentially of two Stewart platforms as slave and master modules known as 2 (6-Universal-Prismatic-Spherical). Regarding to the redundancy of this mechanism, a complex trajectory is considered for this redundant mechanism which is impossible for non-redundant parallel mechanisms to navigate. First, the inverse kinematics of mechanism is solved and Jacobian matrices are obtained considering the rotational DOF for pods around axial direction. Next, using energy principles and Lagrange method the exact equation of motion is formed. Finally, to verify the results obtained by simulation, an experiment on 2-(6UPS) mechanism is carried out to validate the results. According to the results, it is obvious that the proposed mathematical model is comprehensive, and it can be used with great reliability for all intentions such as control strategies.
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