Abstract
This paper will describe the kinematics and dynamics of parallel robot named Delta with 4 degree of freedom (dof). In this study, the model of Delta parallel kinematic robot 3 dofs combined with a mechanism, which is a kinematic chain with one dof of its links identified angle between the base and moving platform as the end-effector. The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse formulas are generally shown simply and the direct formulas are also described. Besides, this paper deal with the direct and inverse dynamics to determine the relations between the generalized accelerations, velocities, coordinates of the end-effector and the articular forces based on simulation and control. Parallel robots have become the important machines to manufacturing using for various purposes in industry and life. The dynamic model of parallel robot with 4 dof is presented, and an adaptive control strategy based kinematic and dynamic models for this robot is described. Experiments were implemented to evaluate the responding of controlling system based on dynamics and kinematics controlling method for tracking desired trajectories. The results show that the use of the suitable control system based on kiematic and dynamic model can provide the high performance of the robot.
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References
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© 2014 Springer International Publishing Switzerland
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Tho, T.P., Thinh, N.T. (2014). Analysis of Kinematics and Dynamics of 4-dof Delta Parallel Robot. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_79
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DOI: https://doi.org/10.1007/978-3-319-05582-4_79
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05581-7
Online ISBN: 978-3-319-05582-4
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