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Dynamic Performance With Control of a 2DOF Parallel Robot

[+] Author Affiliations
Gianmarc Coppola, Dan Zhang, Zhen Gao

University of Ontario Institute of Technology, Oshawa, ON, Canada

Kefu Liu

Lakehead University, Thunder Bay, ON, Canada

Paper No. DETC2012-70491, pp. 1423-1430; 8 pages
doi:10.1115/DETC2012-70491
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

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.

Copyright © 2012 by ASME
Topics: Robots

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