Title :
A 6-DOF Parallel Robot for Optical Precise Operation
Author :
Rong, Weibin ; Ma, Li ; Sun, Lining ; Li, Zheng
Author_Institution :
Robotics Inst., Harbin Inst. of Technol.
Abstract :
In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields
Keywords :
AC motors; Jacobian matrices; ball bearings; dexterous manipulators; end effectors; manipulator kinematics; position control; servomotors; 6-DOF parallel robot; AC servo motor; Hooke joint; Jacobin matrix; ball bearings; end-effector dexterity; fiber alignment; inverse kinematic solution; optical assembly; precise positioning; structural backlash; AC motors; Axles; Ball bearings; Control systems; Jacobian matrices; Joining processes; Kinematics; Parallel robots; Servomechanisms; Servomotors;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347494
