Kinematic/dynamic analysis of a 6 DOF parallel manipulator with 3-PPSP serial subchains and its implementation

被引：0
|
作者：
Byun, YK
Cho, HS
Kim, WK
Baek, SE
Chang, HS
Ro, KC
机构：
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is performed and its dynamic characteristics is examined via the isotropic characteristics of the output effective inertial matrix. From the analysis results, it can be concluded that the manipulator has an excellant kinematic and dynamic characteristics required for high precision manipulators. Lastly, a prototype manipulator system is implemented and the joint position servo-controller is applied to the system. Noting the manipulator has closed-form forward/reverse position solutions[8], it is expected that more advanced controller requiring heavy computational burden can be applied to the system in real time to further enhance the performance of the system.
引用
收藏
页码：1981 / 1986
页数：6
相关论文
共 50 条
  • [1] Analysis of a novel 6-DOF, 3-PPSP parallel manipulator
    Byun, YK
    Cho, HS
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1997, 16 (06): : 859 - 872
  • [2] Closed-form forward-position solution for a 6-DoF 3-PPSP parallel mechanism and its implementation
    Kim, WK
    Byun, YK
    Cho, HS
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2001, 20 (01): : 85 - 99
  • [3] A geometric theory for synthesis and analysis of sub-6 DoF serial manipulator subchains
    Meng, J
    Liu, GF
    Li, ZX
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 4716 - 4721
  • [4] Closed form solution of forward position analysis for a 6-DOF 3-PPSP parallel mechanism of general geometry
    Kim, WK
    Byun, YK
    Cho, HS
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 1659 - 1664
  • [5] Kinematic Analysis of A Novel Type of 6-DOF Hybrid Serial-parallel Manipulator
    Xu, Jiabao
    Qu, Zhiyong
    Cong, Dacheng
    Han, Junwei
    2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017), 2017, : 749 - 753
  • [6] Visual design study and implementation for 3 DOF parallel kinematic manipulator
    Tong, Zhizhong
    Jiang, Hongzhou
    Yan, Hao
    Han, Junwei
    7TH INTERNATIONAL CONFERENCE ON COMPUTER-AIDED INDUSTRIAL DESIGN & CONCEPTUAL DESIGN, 2006, : 73 - +
  • [7] Kinematic and dynamic analysis of a new type of spatial 6-DOF parallel structure manipulator
    Alizade, R
    Bayram, C
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 217 - 221
  • [8] Kinematic and Dynamic Analysis of a Novel 6-DOF Serial Manipulator for Underground Distribution Power Lines
    Allan, J. -F.
    Lavoie, S.
    Reiher, S.
    Lambert, G.
    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011,
  • [9] Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
    Arian, Alaleh
    Danaei, Behzad
    Abdi, Hamid
    Nahavandi, Saeid
    APPLIED MATHEMATICAL MODELLING, 2017, 51 : 217 - 231
  • [10] Kinematic analysis of a new 3-DOF translational parallel manipulator
    Li, Yangmin
    Xu, Qingsong
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C, 2005, : 1015 - 1024
12345