Paper Info
Title
Kinematic/Dynamic Analysis Of A 6 Dof Parallel Manipulator With 3-Ppsp Serial Subchains And Its Implementation
Abstract
In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is performed and its dynamic characteristics is examined via the isotropic characteristics of the output effective inertial matrix. From the analysis results, it can be concluded that the manipulator has an excellant kinematic and dynamic characteristics required for high precision manipulators. Lastly, a prototype manipulator system is implemented and the joint position servo-controller is applied to the system. Noting the manipulator has closed-form forward/reverse position solutions[8], it is expected that more advanced controller requiring heavy computational burden can be applied to the system in real time to further enhance the performance of the system.
Year
DOI
Venue
1998
10.1109/IROS.1998.724898
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS
Keywords
Field
DocType
first order,degree of freedom,control systems,computational complexity,closed form solution,prototypes,parallel manipulator,real time systems,differential equations,testing,dynamic analysis,real time,kinematics,geometry
Inertial frame of reference,Isotropy,Parallel manipulator,Control theory,Kinematics,Control theory,Simulation,Computer science,Matrix (mathematics),Control engineering,Kinematic chain,Computational complexity theory
Conference
Citations 
PageRank 
References 
1
0.40
2
Authors
6
Name
Order
Citations
PageRank
Yong Kyu Byun161.42
Hyungsuck Cho221324.88
Whee-Kuk Kim315827.05
Sang-Eun Baek410.74
Heung-Sung Chang510.40
Kwang-Choon Ro610.40