Kinematics control of a new 6 PUS-UPS/UPU parallel manipulator with variable mobility

Author

Shunpan, Liang ; Yanbin, Duan ; Kuijing, Zheng ; Jing, He ; Yuchao, Dou ; Yongsheng, Zhao

Author_Institution

Yanshan Univ., Qinhuangdao, China

fYear

2010

fDate

26-28 June 2010

Firstpage

6330

Lastpage

6334

Abstract

In this paper it puts forward and studies a new kind 6 PUS-UPS/UPU parallel manipulator. The mechanical structure is simple, and can achieve high rigidity, high precision machining and can also be used to vision measure and force control research, redundant control study. Firstly, the degree of freedom about the parallel manipulator is analyzed by using the screw theory. Then according to the geometrical characteristics of institutions and D-H method, the kinematics of the parallel manipulator is analyzed. Open architecture composed of IPC and PMAC is adopted for the kinematics control system hardware. The control software, based on Windows OS, is designed with the functional modularization. The prototype of the parallel manipulator is developed. The debugging and machining experiments are performed.

Keywords

control engineering computing; force control; machining; manipulator kinematics; 6 PUS UPS-UPU parallel manipulator; D-H method; IPC; PMAC; force control; high precision machining; kinematics control system hardware; open architecture; redundant control study; screw theory; variable mobility; Computer architecture; Control systems; Fasteners; Force control; Force measurement; Kinematics; Machining; Manipulators; Mechanical variables control; Mechanical variables measurement; Kinematics control; PMAC; Parallel manipulator; Variable mobility;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5535295

Filename

5535295