Design and control of a novel 4-DOFs parallel robot H4

This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for highspeed 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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: H. B. Choi, Olivier Company, François Pierrot, Atsushi Konno, T. Shibukawa, Masaru Uchiyama
• Keywords: Dynamic Control, Dynamic Control Simulation, ICRA 2003, Parallel Mechanism, Robotics