Dynamic Performance With Control of a 2DOF Parallel Robot Conferences

abstract

• In this work the dynamic performance and control of a 2DOF parallel robot is conducted. The study is partly motivated by large variations in dynamic performance and control within the reachable workspace of many parallel manipulators. The forward dynamic model of the robot is derived in detail. The connection method is directly utilized for this derivation. Subsequently, a dynamic performance study is undertaken. This reveals important information whilst using a forward dynamic model. A performance index is proposed to determine the variability of performance of the parallel manipulator. Then a trajectory-tracking scenario is undertaken using a linear controller. By means of control, the simulations illustrate the validity of the proposed index for parallel manipulators.

authors

• Coppola, Gianmarc
• Zhang, Dan
• Liu, Kefu
• Gao, Zhen

status

• published 

publication date

• August 12, 2012

published in

• Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B  Journal

presented at event

• ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference  Conference

keywords

• Engineering
• Engineering, Mechanical
• FORMULATION
• INVERSE DYNAMICS
• MANIPULATORS
• Robotics
• Science & Technology
• Technology

Digital Object Identifier (DOI)

• 10.1115/detc2012-70491

International Standard Book Number (ISBN) 13

• 978-0-7918-4503-5

start page

• 1423

end page

• +