Dynamics modeling of a Delta-type parallel robot (ISR 2013)

Author

Shi Baek Park ; Han Sung Kim ; Changyong Song ; Kyunghwan Kim

Author_Institution

Dept. of Mech. Eng., Yonsei Univ., Seoul, South Korea

fYear

2013

fDate

24-26 Oct. 2013

Firstpage

1

Lastpage

5

Abstract

This paper presents a simplified dynamics modeling and hardware implementation of a Delta-type parallel manipulator. Due to complex kinematics, the Lagrangian equations of the first type is employed to derive the inverse dynamic equations. Commercial Delta parallel robot can achieve more than 10m/s and 15g. Accuracy and fast calculation of dynamics are very essential typically in computed torque control of a Delta-type parallel manipulator for high speed applications. It is presented that the simplified dynamics equation matches very well with ADAMS modeling and the calculation time of the inverse kinematics and dynamics is less than 0.04msec.

Keywords

manipulator dynamics; torque control; ISR 2013; Lagrangian equations; delta-type parallel manipulator; delta-type parallel robot; dynamics modeling; inverse dynamic equations; simplified dynamics modeling; torque control; Actuators; Computational modeling; Hardware; Kinematics; Manipulators; Torque; ADAMS; Delta parallel robot; Dynamics modeling; Lagrangian equation; computed torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics (ISR), 2013 44th International Symposium on

Conference_Location

Seoul

Type

conf

DOI

10.1109/ISR.2013.6695721

Filename

6695721