Abstract
The paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the NewtonEuler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.
| Original language | English |
|---|---|
| Pages (from-to) | 579-587 |
| Number of pages | 9 |
| Journal | Robotica |
| Volume | 27 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Jul 1 2009 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Mathematics(all)
- Computer Science Applications
Cite this
A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame. / Hong, Jangho; Yamamoto, Motoji.
In: Robotica, Vol. 27, No. 4, 01.07.2009, p. 579-587.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame
AU - Hong, Jangho
AU - Yamamoto, Motoji
PY - 2009/7/1
Y1 - 2009/7/1
N2 - The paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the NewtonEuler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.
AB - The paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the NewtonEuler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.
UR - http://www.scopus.com/inward/record.url?scp=67651156226&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67651156226&partnerID=8YFLogxK
U2 - 10.1017/S0263574708004967
DO - 10.1017/S0263574708004967
M3 - Article
AN - SCOPUS:67651156226
VL - 27
SP - 579
EP - 587
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 4
ER -