A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame

Jangho Hong, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

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 languageEnglish
Pages (from-to)579-587
Number of pages9
JournalRobotica
Volume27
Issue number4
DOIs
Publication statusPublished - Jul 1 2009

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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