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http://dx.doi.org/10.7736/KSPE.2012.29.4.426

The Study of Kinematic Analysis and Control by Optimum Design of Redundantly Actuated Parallel Robot  

Kim, Byeong-Soo (Daegu Mechatronics and Materials Institute)
Lee, Jeh-Won (Department of Mechanical Engineering, Yeungnam Univ.)
Kim, Young-Suk (Department of Mechanical Engineering, Kyungpook national Univ.)
Kim, Jin-Dae (Daegu Mechatronics and Materials Institute)
Lee, Hyuk-Jin (Department of Mechanical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.4, 2012 , pp. 426-432 More about this Journal
Abstract
In this study, kinematic analysis of forward kinematic, inverse kinematic and jacobian for 6-bar parallel robot was analyzed. In order to analyze the maximum workspace of 6-bar parallel robot, maximum revolution range of active joint was calculated. Also, to analyze forward dynamics and inverse dynamics of 6-bar parallel robot, recurdyn and simmechanics was utilized. Using a PI controller and Feedforward controller make an experiment with square motion of end_effector. The reference value of active joint and trace of end_effector were compared with actual experimental value.
Keywords
Parallel Robot; Workspace; Feedforward Control; Motion Control; Redundant Actuator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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