Paper Info
Title
Dynamics modeling of a Delta-type parallel robot (ISR 2013)
Abstract
This paper presents a simplified dynamics modeling and hardware implementation of a Delta-type parallel manipulator. Due to complex kinematics, the Lagrangian equations of the first type is employed to derive the inverse dynamic equations. Commercial Delta parallel robot can achieve more than 10m/s and 15g. Accuracy and fast calculation of dynamics are very essential typically in computed torque control of a Delta-type parallel manipulator for high speed applications. It is presented that the simplified dynamics equation matches very well with ADAMS modeling and the calculation time of the inverse kinematics and dynamics is less than 0.04msec.
Year
DOI
Venue
2013
10.1109/ISR.2013.6695721
ISR
Keywords
DocType
Citations 
computed torque control,manipulator dynamics,inverse dynamic equations,lagrangian equations,torque control,adams,dynamics modeling,delta-type parallel robot,delta parallel robot,isr 2013,delta-type parallel manipulator,lagrangian equation,simplified dynamics modeling
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Shi Baek Park100.34
Han-Sung Kim2554.60
Changyong Song300.68
Kyunghwan Kim4264.89