A 6-DOF Parallel Robot for Optical Precise Operation

Author

Rong, Weibin ; Ma, Li ; Sun, Lining ; Li, Zheng

Author_Institution

Robotics Inst., Harbin Inst. of Technol.

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

4165

Lastpage

4169

Abstract

In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields

Keywords

AC motors; Jacobian matrices; ball bearings; dexterous manipulators; end effectors; manipulator kinematics; position control; servomotors; 6-DOF parallel robot; AC servo motor; Hooke joint; Jacobin matrix; ball bearings; end-effector dexterity; fiber alignment; inverse kinematic solution; optical assembly; precise positioning; structural backlash; AC motors; Axles; Ball bearings; Control systems; Jacobian matrices; Joining processes; Kinematics; Parallel robots; Servomechanisms; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347494

Filename

4153209