Dynamic and kinematic analysis of 6-bar parallel robot

Author

Byeong-Soo Kim ; Seung-Han Yang ; Jin-Dae Kim ; Che-Seung Cho

Author_Institution

Mechatron. Center, Daegu Mechatron. & Mater. Inst., Daegu, South Korea

fYear

2013

fDate

24-26 Oct. 2013

Firstpage

1

Lastpage

3

Abstract

A field of the shipbuilding and the construction industry needs a large size robot. But the existing serial robots have disadvantage of deformation occurred by its weight and the vibration occurred in operating at high speed. In this study, we made the parallel robot which two serial robot connected by one link. This robot is controlled to position(x,y) and rotation(θ) by use of four DC servo motors as redundant actuation manipulators. Working space, singular point and Jacobian of this redundant parallel robot is analyzed.

Keywords

construction industry; industrial manipulators; manipulator dynamics; manipulator kinematics; position control; redundant manipulators; shipbuilding industry; 6-bar parallel robot dynamic analysis; 6-bar parallel robot kinematic analysis; DC servo motors; construction industry; large size robot; position control; redundant actuation manipulators; redundant parallel robot Jacobian; rotation control; serial robot; shipbuilding industry; singular point; working space; Computational modeling; Jacobian matrices; Manipulators; Parallel robots; Service robots; Servomotors; Dynamic analysis; Kinematic analysis; Parallel robot; Redundant;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics (ISR), 2013 44th International Symposium on

Conference_Location

Seoul

Type

conf

DOI

10.1109/ISR.2013.6695614

Filename

6695614