DYNAMIC PERFORMANCE WITH CONTROL OF A 2DOF PARALLEL ROBOT

被引：0
|
作者：
Coppola, Gianmarc [1 ]
Zhang, Dan [1 ]
Liu, Kefu [2 ]
Gao, Zhen [1 ]
机构：
[1] Univ Ontario, Inst Technol, Dept Mech Engn, Robot & Automat Lab, Oshawa, ON, Canada
[2] Lakehead Univ, Dept Mech Engn, Thunder Bay, ON, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2012, VOL 4, PTS A AND B | 2012年
关键词：
INVERSE DYNAMICS; MANIPULATORS; FORMULATION;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this work the dynamic performance and control of a 2DOF parallel robot is conducted. The study is partly motivated by large variations in dynamic performance and control within the reachable workspace of many parallel manipulators. The forward dynamic model of the robot is derived in detail. The connection method is directly utilized for this derivation. Subsequently, a dynamic performance study is undertaken. This reveals important information whilst using a forward dynamic model. A performance index is proposed to determine the variability of performance of the parallel manipulator Then a trajectory-tracking scenario is undertaken using a linear controller By means of control, the simulations illustrate the validity of the proposed index for parallel manipulators.
引用
收藏
页码：1423 / +
页数：2
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