Introducing a new 3 legged 6-DOF ups parallel mechanism for pole climbing applications

G. R. Vossoughi, Mohammad Abedin Nasab, O. Aghababai

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this paper, we propose a new 6-DOF parallel mechanism. Due to the fact that degrees of freedom in this robot outnumber the number of kinematic chains, it is not a fully parallel mechanism. This results in a weight and inertia reduction and better dynamic performance, making it ideal for haptic and pole climbing applications. The fact that the mechanism is open on one side enable it to wrap around a pole from one side minimizing the center of gravity distance from the pole and the resulting gripping moments. Both inverse and forward Kinematic and dynamic analysis of the proposed mechanism is addressed. Workspace of the mechanism is compared to that of the Stewart's mechanism and the results show better performance. Jacobian matrix has also been determined and singular points have been discussed. Finally, the simulation results have also been validated using Matlab's SimMechanics™ Toolbox.

Original languageEnglish (US)
Pages (from-to)221-228
Number of pages8
JournalWSEAS Transactions on Systems
Issue number1
StatePublished - Jan 1 2007

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


Dive into the research topics of 'Introducing a new 3 legged 6-DOF ups parallel mechanism for pole climbing applications'. Together they form a unique fingerprint.

Cite this