DocumentCode
1265630
Title
An Experimental Study on the Dynamics of a 3-RRR Flexible Parallel Robot
Author
Yu, Yue-Qing ; Du, Zhao-Cai ; Yang, Jian-Xin ; Li, Yuan
Author_Institution
Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing, China
Volume
27
Issue
5
fYear
2011
Firstpage
992
Lastpage
997
Abstract
This paper presents an experimental study on the dynamics of flexible parallel robots. First, a theoretical study on the dynamic modeling and numerical solution of parallel robots with flexible links is introduced briefly. Second, the experiment setup that includes the test-bed mechanism of a 3-RRR flexible parallel robot and the hardware and software structures of a control system are then developed. Finally, the experimental study is presented to show the good agreement between the theoretical analysis and experimental results.
Keywords
robot dynamics; 3-RRR flexible parallel robot dynamics; flexible links; test-bed mechanism; Dynamics; Mathematical model; Parallel robots; Trajectory; Wires; Dynamics; experiment; flexible link; parallel robot;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2011.2159408
Filename
5941027
Link To Document