 |
HAL-LIRMM - Open Archive |  |
Conference papers
Design and Control of a Novel 4-DOFs Parallel Robot H4
Abstract : This paper deals with the design and dynamic control simulation of a new type and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMSTM. In addition, the adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.
Cited literature [14 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269434
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:11:54 AM
Last modification on : Monday, May 17, 2021 - 11:48:02 AM
Long-term archiving on: : Friday, May 21, 2010 - 1:12:27 AM
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:11:54 AM
Last modification on : Monday, May 17, 2021 - 11:48:02 AM
Long-term archiving on: : Friday, May 21, 2010 - 1:12:27 AM
File
D81.PDF
Files produced by the author(s)