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 |
| Publication status | Published - 2004 Mar 1 |
Keywords
- 4-DOF
- Design
- H4
- Parallel Robot
- Simulation
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering
Fingerprint Dive into the research topics of 'Design and dynamic simulation of a novel 4-DOF parallel robot H4'. Together they form a unique fingerprint.
Cite this
Choi, H. B., Company, O., Pierrot, F., Konno, A., Shibukawa, T., Abe, K., Sato, D., & Uchiyama, M. (2004). Design and dynamic simulation of a novel 4-DOF parallel robot H4. Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 70(3), 798-803.