Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
Open Access
Journal Browser
Journal of Automation and Control. 2017, 5(2), 76-80
DOI: 10.12691/automation-5-2-10
Open AccessArticle

Simulation of Parallel Robots

Marek Sukop1, Rudolf Jánoš1, , Ján Semjon1, Peter Tuleja1, Marek Vagaš1, Peter Marcinko1 and Ondrej Juruš1

1Department of Robotics, Technical University of Kosice, Kosice, Slovakia

Pub. Date: December 11, 2017

Cite this paper:
Marek Sukop, Rudolf Jánoš, Ján Semjon, Peter Tuleja, Marek Vagaš, Peter Marcinko and Ondrej Juruš. Simulation of Parallel Robots. Journal of Automation and Control. 2017; 5(2):76-80. doi: 10.12691/automation-5-2-10


Article describe new method of simulation of parallel robots. Since currently there are only few efficient and universal tools for modeling, interpretation and kinematic simulation such one has been was developed and implemented. A new procedure allows the formalize able calculation of the direct transformation as well as the Inverse transformation and is based on mathematical modeling which has proved itself have delivered optimal performance in the area of the industrial robots.

parallel robots simulation kinematic of hexa robot singularities of parallel robots

Creative CommonsThis work is licensed under a Creative Commons Attribution 4.0 International License. To view a copy of this license, visit


[1]  Alban, T.; Janocha, H.: Dynamic Calibration of Industrial Robots with Inertial Measurement Systems. In: Proceedings of the European Control Conference. Karlsruhe, Germany, August/September 1999.
[2]  Hesslebach J, Krefft M, Brueggemann H.: Reconfigurable Parallel Robots: Combining High Flexibility and Short Cycle Times. In Jornal: Production Engineering e.V., Ausgabe XIII.
[3]  Danishjoo, Enayat: Kinematics Simulation and Analysis and Calibration of Modular Parallel Robots. Dissertation thesis. Košice: Technical university of Košice, Faculty of Mechanical Engineering, 2010.
[4]  A. Kochan: Parallel robots perfect propellors. Industrial Robot, 23(4): 27-30, 1996.
[5]  D. Stewart: A platform with six degrees of freedom. Proc. Instn. Mech. Engrs., 180, 1965-66.
[6]  Hesselbach, J. ; Frindt, M. ; Kerle, H. : To the structural system of parallel robots; Construction 51, 1999.
[7]  Arai, T. ; Funabashi, H. ; Nakamura, Y. ; Takeda, Y. ; Koseki, Y. : High Speed and high Precision Parallel Manipulator; IROS '97, Proc. of the 1997IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble Frankreich,1997.
[8]  Sparacino, F. ; Herve, J. M. : Sythesis of parallel manipulators using Liegroups Y-Star and H-Robots; 'Can Robots Contribute to Preventing Environmental Deterioration?', Proc. of IEEE/Tsukuba International Workshop on Advanced Robotics, Tsukuba Japan; 08.-09. 11. 1993.
[9]  Palko A.: Modular Robotics system. In: Proceedings 2th Project Workshop on CIM and Robotics Applications. Mihajlo Pupin Institute Beograd (Yugoslavia) 1991, pp. 54-60.
[10]  Hebsacker, M. ; Epfl, A. : The interpretation of the Kinematik of the Hexaelements - methodology for the interpretation of parallel tool machines; VDI reports Nr. 1427; 1998.
[11]  Pavlovic N, Keiner R, Franke HJ..Systematic Development of Adaptronic Joints for Parallel Kinematic Structures. In: SYROCO 2006 - Proceedings of the International IFAC Symposium on Robot Control (September 6-8, “006), Bologna, Italy.
[12]  K. Cleary, T. Brooks: Kinematic analysis of a novel 6-dof parallel manipulator. In Proceedings of IEEE Conference on Robotics and Automation, pages 708-713, San Diego, CA, June 1993.
[13]  H.Y. Lee and B. Roth: A closed-form solution of the forward displacement analysis of a class of in-parallel mechanisms. In Proceedings of IEEE Conference on Robotics and Automation, pages 720-724, 1993.
[14]  Ben-Horin, R.; Shoham, M.; Djerassi, S.: Kinematics, Dynamics and Construction of a Planarly Actuated Parallel Robot. Robotics and Computer Integrated Manufacturing, Vol. 14, No. 2, 1998.
[15]  Świć A., Gola A., Control of accuracy of forming elastic-deformable shafts with low rigidity, Advances in Intelligent Systems and Computing, Vol. 620, 2018, pp. 107-114.