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Kinematic, Dynamic Modeling and Remote Control of a Robotic Machine
Faculty of Engineering and Applied Science, University of Ontario Institute of Technology.
Lihui Wang Integrated Manufacturing Technologies Institute, National Research Council Canada.
Integrated Manufacturing Technologies Institute, National Research Council Canada.
2007 (English)In: 2007 IEEE International Conference on Control and Automation, ICCA, IEEE, 2007Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a robotic machine with 3 degrees 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.

Place, publisher, year, edition, pages
IEEE, 2007.
Series
IEEE International Conference on Control and Automation, ISSN 1948-3449
Keywords [en]
dynamics, kinematics, robot, machine tool
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-205794ISI: 000257195300111Scopus ID: 2-s2.0-44349105289ISBN: 9781424408177 (print)OAI: oai:DiVA.org:kth-205794DiVA, id: diva2:1090357
Conference
2007 IEEE International Conference on Control and Automation, ICCA, Guangzhou, China, 30 May 2007 through 1 June 2007
Note

QC 20170906

Available from: 2017-04-24 Created: 2017-04-24 Last updated: 2017-09-06Bibliographically approved

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