Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2001.04a
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- Pages.519-522
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- 2001
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- 2005-8446(pISSN)
Study on Design, Control and Program of a parallel manipulator for machining work
기계가공로봇의 설계, 제어 및 프로그램에 관한 연구
Abstract
In this paper, I propose double parallel manipulator for machining work. And I derive an kinematics by combining the kinematics of the central axis and the kinematics of the link train of linear actuator. The Jacobian of the central axis and the Jacobian of the link train of the linear actuators are induced by a motor algebra and they are combined to an entire Jacobian matrix to transform the velocity of the end effector to those of linear actuators. And then this paper presents the development of control system and user interface program for machining work.
Keywords