A calculation method of the dynamics for a 3-RSS parallel link robot (delta type)

Jangho Hong, Motoji Yamamoto

Research output: Contribution to conferencePaperpeer-review

Abstract

The paper proposes a calculation method of reaction force and moment for a 3-RSS parallel link robot fixed with a base frame. When the parallel link robot moves fast, the reaction force for the base frame becomes large. The large reaction force easily causes vibration for the base frame. It leads less position accuracy of the parallel link robot. Thus, analysis of the reaction force for given motion of the parallel link robot is important. The paper proposes a calculation method for the reaction force and moment of a 3-RSS parallel link robot. The method uses principle of virtual work and dynamics calculation method for serial link robot such as Newton-Euler method. Numerical simulations and experiments for a 3-RSS parallel link robot to confirm the validity of the calculation method are presented.

Original languageEnglish
Pages242-246
Number of pages5
Publication statusPublished - Dec 1 2008
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: Oct 15 2008Oct 17 2008

Other

Other39th International Symposium on Robotics, ISR 2008
CountryKorea, Republic of
CitySeoul
Period10/15/0810/17/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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