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

    研究成果: Article査読

    2 被引用数 (Scopus)


    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.

    ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    出版ステータスPublished - 2004 3

    ASJC Scopus subject areas

    • 材料力学
    • 機械工学
    • 産業および生産工学


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