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

Jangho Hong, Motoji Yamamoto

研究成果: Contribution to conferencePaper査読

抄録

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.

本文言語英語
ページ242-246
ページ数5
出版ステータス出版済み - 12 1 2008
イベント39th International Symposium on Robotics, ISR 2008 - Seoul, 大韓民国
継続期間: 10 15 200810 17 2008

その他

その他39th International Symposium on Robotics, ISR 2008
Country大韓民国
CitySeoul
Period10/15/0810/17/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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