Kinematic, dynamic modeling and remote control of a robotic machine

被引：0

作者：

Zhang, Dan ^{[1
]}

Wang, Lihui ^{[2
]}

Bi, Zhuming ^{[2
]}

机构：

[1] Univ Ontario, Inst Technol, Fac Engn & Appl Sci, Oshawa, ON L1H 7K4, Canada

[2] Integrated Mfg Technol Inst, Natl Res Council Canada, London, ON, Canada

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7 | 2007年

基金：

加拿大自然科学与工程研究理事会;

关键词：

dynamics; kinematics; robot; machine tool;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a robotic machine with 3degrees of freedom (DOF) is proposed. First, the geometric structure of the 3-DOF parallel robot is presented; in the mechanism, a fourth kinematic link - a passive link connecting the base center to the moving platform center - is introduced. This last link is used to constrain the motion of the moving platform to only 3-DOF. Then, the kinematic and dynamic models are developed With the models, a web-based remote control approach is then applied. The 3-DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3-DOF structure is set up, and some conclusions are given by the end.

引用

页码：551 / +

页数：2

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