https://github.com/austinvishal/robot-mockup---exechon

This repository provides insights into inverse kinematics of the famous Exechon Tripod robot and visual mockup representations
https://github.com/austinvishal/robot-mockup---exechon

delta-robot exechon graphics hybrid-robots inverse-kinematics kinematics mechanism-design mechanisms mockups modeling motion motion-planning parallel parallel-robot parallel-robots robots simulation trajectory-optimization tripod workspace

Last synced: 10 days ago
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This repository provides insights into inverse kinematics of the famous Exechon Tripod robot and visual mockup representations

• Host: GitHub
• URL: https://github.com/austinvishal/robot-mockup---exechon
• Owner: austinvishal
• License: mit
• Created: 2024-07-08T11:23:39.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2024-07-08T11:40:07.000Z (4 months ago)
• Last Synced: 2024-11-03T16:03:15.455Z (10 days ago)
• Topics: delta-robot, exechon, graphics, hybrid-robots, inverse-kinematics, kinematics, mechanism-design, mechanisms, mockups, modeling, motion, motion-planning, parallel, parallel-robot, parallel-robots, robots, simulation, trajectory-optimization, tripod, workspace
• Language: MATLAB
• Homepage:
• Size: 3.94 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        



Robot Mockup: Motion Planning and Inverse Kinematics of Exechon Tripod Robot  





V. Ramadoss : Visit my Youtube channel by clicking the video preview below





# Description of the Model

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.

[![Watch the video](https://github.com/austinvishal/Robot-Mockup---Exechon/blob/main/assets/thumbnail2.png)](https://youtu.be/VLmGvppr5oE)

# Graphic Mockup

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

![](https://github.com/austinvishal/Robot-Mockup---Exechon/blob/main/assets/thumbnail.png)



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}

}

```

### Maintainer

This repository is maintained by:

| | |

|:---:|:---:|

| [](https://github.com/austinvishal) | [Vishal Ramadoss](https://github.com/austinvishal) |