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

Jangho Hong, Motoji Yamamoto

研究成果: ジャーナルへの寄稿学術誌査読

13 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)579-587
ページ数9
ジャーナルRobotica
27
4
DOI
出版ステータス出版済み - 7月 2009

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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