• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.503-504
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.426-432
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• 2012

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.