Dynamic and kinematic analysis of 6-bar parallel robot

Byeong Soo Kim, Seung Han Yang, Jin Dae Kim, Che Seung Cho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A field of the shipbuilding and the construction industry needs a large size robot. But the existing serial robots have disadvantage of deformation occurred by its weight and the vibration occurred in operating at high speed. In this study, we made the parallel robot which two serial robot connected by one link. This robot is controlled to position(x,y) and rotation(θ) by use of four DC servo motors as redundant actuation manipulators. Working space, singular point and Jacobian of this redundant parallel robot is analyzed

Original languageEnglish
Title of host publication2013 44th International Symposium on Robotics, ISR 2013
DOIs
StatePublished - 2013
Event2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of
Duration: 24 Oct 201326 Oct 2013

Publication series

Name2013 44th International Symposium on Robotics, ISR 2013

Conference

Conference2013 44th IEEE International Symposium on Robotics, ISR 2013
Country/TerritoryKorea, Republic of
CitySeoul
Period24/10/1326/10/13

Keywords

  • Dynamic analysis
  • Kinematic analysis
  • Parallel robot
  • Redundant

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