Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

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

여유구동형 병렬 로봇의 최적설계를 통한 기구학적 분석 및 제어에 관한 연구

  • Received : 2011.11.17
  • Accepted : 2011.12.09
  • Published : 2012.04.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. Nakamura, Y. and Ghodoussi, M., "Dynamic Computation of Closed-Link Robot Mechanisms with Nonredundant and Redundant Actuators," IEEE Trans. Robotics and Automation, Vol. 5, No. 3, pp. 294-302, 1989. https://doi.org/10.1109/70.34765
  2. Kumar, V. and Gardner, J. F., "Kinematic of Redundantly Actuated Closed Chains," IEEE Trans. Robotics and Automation, Vol. 6, No. 2, pp. 269-273, 1990. https://doi.org/10.1109/70.54745
  3. Lee, S. M., Lee, J. W. and Shim, H. S., "Torque Distribution Control of 3RRR Parallel Robot," Journal of the Korea Society for Precision Engineering, Vol. 25, No. 2, pp. 72-79, 2008.
  4. Bicchi, A. and Prattichizzo, D., "Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms," IEEE Trans. Robotics and Automation, Vol. 16, No. 4, pp. 336-345, 2000. https://doi.org/10.1109/70.864226
  5. Park, J., Chung, W. and Youm, Y., "Weighted Demcimposition of Kinematics and Dynamics of Kinematically Redundant Manipulator," IEEE International Conference on Robotics and Automation, Vol. 1, pp. 480-486, 1996. https://doi.org/10.1109/ROBOT.1996.503822
  6. Ropponen, T. and Nakamura, T., "Singularity-free parameterization and performance analysis of actuation redundancy," IEEE International Conference on Robotics and Automation, Vol. 2, pp. 806-811, 1990.
  7. Kim, B. S., Kim, J. D., Cho, C. S., Kim, K. H. and Park, K. J., "A study on redundantly actuated 6-bar parallel robot," Proc. of KSPE Spring Conference, pp. 351-352, 2011.

Cited by

  1. Design Optimization of the Support Frame of an Antenna Positioner Mounted on a Vehicle vol.31, pp.5, 2014, https://doi.org/10.7736/KSPE.2014.31.5.411