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Design, implementation, and performance evaluation of a 4-DOF parallel robot

Published online by Cambridge University Press:  28 April 2009

Hee-Byoung Choi ,
Atsushi Konno  and
Masaru Uchiyama
Hee-Byoung Choi*
Affiliation:
Mechatronics Engineering, Chungnam National University, 79 Daehangno, Yuseong-gu, Daejeon 305-764, Korea
Atsushi Konno
Affiliation:
Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan
Masaru Uchiyama
Affiliation:
Department of Aerospace Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan
*
*Corresponding author. E-mail: ojhee@cnu.ac.kr
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Summary

This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

Keywords

Designparallel robot4-DOF
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 107 - 118
Copyright
Copyright © Cambridge University Press 2009

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