Abstract
The paper proposes a calculation method of reaction force and moment for a 3-RSS parallel link robot fixed with a base frame. When the parallel link robot moves fast, the reaction force for the base frame becomes large. The large reaction force easily causes vibration for the base frame. It leads less position accuracy of the parallel link robot. Thus, analysis of the reaction force for given motion of the parallel link robot is important. The paper proposes a calculation method for the reaction force and moment of a 3-RSS parallel link robot. The method uses principle of virtual work and dynamics calculation method for serial link robot such as Newton-Euler method. Numerical simulations and experiments for a 3-RSS parallel link robot to confirm the validity of the calculation method are presented.
| Original language | English |
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| Pages | 242-246 |
| Number of pages | 5 |
| Publication status | Published - Dec 1 2008 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: Oct 15 2008 → Oct 17 2008 |
Other
| Other | 39th International Symposium on Robotics, ISR 2008 |
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| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 10/15/08 → 10/17/08 |
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Human-Computer Interaction
- Software