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A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame

Published online by Cambridge University Press:  01 July 2009

Jangho Hong  and
Motoji Yamamoto
Jangho Hong*
Affiliation:
Department of Intelligent Machinery and Systems, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
Motoji Yamamoto
Affiliation:
Department of Intelligent Machinery and Systems, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan.
*
*Corresponding author. E-mail: hong@mint.mech.kyushu-u.ac.jp
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Summary

The paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the Newton–Euler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.

Keywords

Parallel link robotDynamicsReaction force and momentVibration
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 579 - 587
Copyright
Copyright © Cambridge University Press 2008

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