Motion Control of a 6 dof Parallel Robot with Combined Redundancy

2017 ◽  
Vol 2017 (0) ◽  
pp. 2P1-B05
Author(s):  
Takashi HARADA ◽  
Toru MAKINO
Keyword(s):  
Motion Control ◽  
Parallel Robot

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Motion control of planar parallel robot using the fuzzy descriptor system approach

2012 ◽  
Vol 51 (5) ◽  
pp. 596-608 ◽  
Author(s):  
Laurent Vermeiren ◽  
Antoine Dequidt ◽  
Mohamed Afroun ◽  
Thierry-Marie Guerra
Keyword(s):  
Motion Control ◽  
System Approach ◽  
Parallel Robot ◽  
Descriptor System

Design Optimization of 6-HTRT Parallel Robot Orientated on Workspace

2003 ◽  
Author(s):  
Hui Yu ◽  
Jinsong Wang ◽  
Guanghong Duan ◽  
Lining Sun
Keyword(s):  
Design Optimization ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Objective Functions ◽  
Restriction Factors

In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations are implemented on the design of parallel robot. As a result of the optimization design, the parallel robot not only figures the minimum overall size of robot structural, but also has workspace unrestricted by the limit range of Hooke joint’s conical angles. The restriction factors on workspace of 6-HTRT parallel robot are reduced thus the algorithm for motion control of the robot is simplified and the performance of the parallel mechanism is improved.

Build for Motion Control System of Planar Five-Bar Parallel Mechanism

2013 ◽  
Vol 397-400 ◽  
pp. 1563-1567
Author(s):  
Dong Yang Zhao ◽  
Hong Bing Xin ◽  
Quan Lai Li ◽  
Deng Qi Cui ◽  
Yue Fei Xin ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Servo Control ◽  
Motion Controller ◽  
The Core ◽  
Planning And Control ◽  
Servo Control System ◽  
And Control

MC206X motion controller being chosen as the core of the system, this paper built the control system of a planar five-bar parallel robot, achieved the debugging of the hardware of a full servo control system, developed the Motion Perfect software system on the basis of the Windows-based operating system to complete the planning and control of continuous paths.

A Novel Sliding Mode Control Base on Synchronization Error for Parallel Robot

2012 ◽  
Vol 468-471 ◽  
pp. 758-766
Author(s):  
Guo Qin Gao ◽  
Wei Wang ◽  
Xue Mei Niu ◽  
Hai Yan Zhou
Keyword(s):  
Sliding Mode Control ◽  
Motion Control ◽  
Control Method ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Synchronization Error ◽  
Mode Control ◽  
Method Base ◽  
Serial Robot ◽  
Simulation And Experiment

Relative to serial robot, parallel robot gets more and more attention of scholars because of its many advantages. However, there are some problems in the current research such as the chains’ coordination and coupling control, which has became one of the key problems in the motion control of parallel robot. To further enhance the motion control performances, a novel sliding mode control method base on synchronization error is proposed in this paper. The simulation and experiment results show that the designed control system has good tracking performance, small system error and strong robustness, which can satisfy the high-precision requirements of the parallel robot control.

scholarly journals ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771982 ◽  
Author(s):  
Deira Sosa-Méndez ◽  
Esther Lugo-González ◽  
Manuel Arias-Montiel ◽  
Rafael A García-García
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Multibody Systems ◽  
Parallel Robot ◽  
Computational Approach ◽  
Systems Software ◽  
Programming Effort ◽  
Dynamics And Control ◽  
Stewart Gough Platform ◽  
And Control

The mechanical structure known as Stewart–Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart–Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart–Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart–Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart–Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart–Gough platform-based robots applications.

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