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

Access to Document

10.1299/kikaic.70.798

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

Design and dynamic simulation of a novel 4-DOF parallel robot H4. / Choi, Hee Byoung; Company, Olivier; Pierrot, François; Konno, Atsushi; Shibukawa, Tetsuro; Abe, Koyo; Sato, Daisuke; Uchiyama, Masaru.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 3, 03.2004, p. 798-803.

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

@article{144212b49a0c4750b957b679930cd7d9,

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.",

keywords = "4-DOF, Design, H4, Parallel Robot, Simulation",

author = "Choi, {Hee Byoung} and Olivier Company and Fran{\c c}ois Pierrot and Atsushi Konno and Tetsuro Shibukawa and Koyo Abe and Daisuke Sato and Masaru Uchiyama",

year = "2004",

month = mar,

doi = "10.1299/kikaic.70.798",

language = "English",

volume = "70",

pages = "798--803",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "3",

}

TY - JOUR

T1 - Design and dynamic simulation of a novel 4-DOF parallel robot H4

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

PY - 2004/3

Y1 - 2004/3

N2 - 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.

AB - 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.

KW - 4-DOF

KW - Design

KW - H4

KW - Parallel Robot

KW - Simulation

UR - http://www.scopus.com/inward/record.url?scp=2942566402&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=2942566402&partnerID=8YFLogxK

U2 - 10.1299/kikaic.70.798

DO - 10.1299/kikaic.70.798

M3 - Article

AN - SCOPUS:2942566402

VL - 70

SP - 798

EP - 803

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 3

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this