Design and dynamic simulation of a novel 4-DOF parallel robot H4

Hee Byoung Choi; Olivier Company; François Pierrot; Atsushi Konno; Tetsuro Shibukawa; Koyo Abe; Daisuke Sato; Masaru Uchiyama

doi:10.1299/kikaic.70.798

Design and dynamic simulation of a novel 4-DOF parallel robot H4

Hee Byoung Choi, Olivier Company, François Pierrot, Atsushi Konno, Tetsuro Shibukawa, Koyo Abe, Daisuke Sato, Masaru Uchiyama

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS™. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.

Original language	English
Pages (from-to)	798-803
Number of pages	6
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	70
Issue number	3
DOIs	https://doi.org/10.1299/kikaic.70.798
Publication status	Published - 2004 Mar

Keywords

4-DOF
Design
H4
Parallel Robot
Simulation

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.70.798

Cite this

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title = "Design and dynamic simulation of a novel 4-DOF parallel robot H4",

abstract = "This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS{\texttrademark}. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.",

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AU - Choi, Hee Byoung

AU - Company, Olivier

AU - Pierrot, François

AU - Konno, Atsushi

AU - Shibukawa, Tetsuro

AU - Abe, Koyo

AU - Sato, Daisuke

AU - Uchiyama, Masaru

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Design and dynamic simulation of a novel 4-DOF parallel robot H4

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Keywords

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