Development of a Novel Wheeled Parallel Robot with Six Degrees of Freedom

In this study, a robot is designed using a combination of parallel and wheeled robots to exploit the advantages of these two platforms in transportation systems. The highest degrees of freedom is obtained by optimizing these two platforms using the least number of electric motors. This robot has six degrees of freedom to be able to move and rotate around the main axes. By combining these six parameters, the robot can be used in many transportation systems and positioning cases in various industries. The innovation introduced in this context can be exploited in construction usages. The innovation regarding this robot uses a parallel manipulator as a mobile robot, accurate positioning, and possibility of the robot in the field of transportation and positioning wirelessly and intelligently, and uses six degrees of freedom in space efficiently. Energy consumption management is one of the most important criteria in robots. The genetic algorithm is used to find the shortest path, hence optimizing the energy consumption. To this end, the chromosomes are variable in length, and by considering the criterion of the shortest path as a fitness function, the appropriate final path is obtained. According to the designed mechanism for this robot, it can move and rotate around three directions, which consists of parallel and wheeled robots, each of them having three degrees of freedom. By aggregating the degrees of freedom of these robots, a hybrid robot with six degrees of freedom was created. Due to the physical limitations of the joints, the robot is not fully able to move and rotate in the joints. These limitations are equal to (-13 degrees, 13 degrees) for the rotation parameters around the x- and y-axis and (39, 67) cm for the robot height changes, and (-180 degrees, 180 degrees) was obtained for the angles of rotation of the wheels.