NDLI: Modeling and index analysis of the hexaglide type mechanism

Content Provider	IEEE Xplore Digital Library
Author	Kuei-Shu Hsu Tian-Syung Lan Ming-Guo Her
Copyright Year	2003
Description	Author affiliation: Dept. of Autom. Eng., Kao Yuan Inst. of Technol., Kaohsiung, Taiwan (Kuei-Shu Hsu)
Abstract	Interest in the analysis and application of a parallel robot system is arising in the automation industry. A new type of 3D (three-dimensional) parallel robot arm manipulator with human interface, as well as the parallel motion control of a platform manipulator actuated by three AC servomotors are introduced in this paper. To comprehensively realize the performance of the parallel robot, the forward kinematics, inverse kinematics, Jacobian and singularity are theoretically derived for the application of quantified and graphical performance synthesis tools presented in by Gosselin (1990). In addition, the computer simulation of the parallel robot with MATLAB program is also proposed for the telerobotic system, and the experimental results of the telerobotic system showed good workability in the remote control. Moreover, the discussions and suggestions from the experiments are fully prepared. Through this study, the capability of this parallel robot in its applications as well as its future research and development are thus approached.
Sponsorship	IEEE Ind. Electron. Soc. IEEE Robotics & Autom. Soc. Soc. Instrum. & Control Eng. Japan Robotics Soc. Japan
Starting Page	32
Ending Page	37
File Size	510355
Page Count	6
File Format	PDF
ISBN	078037987X
DOI	10.1109/MFI-2003.2003.1232588
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-08-01
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel robots Manipulators Kinematics Telerobotics Mathematical model Robotics and automation Electrical equipment industry Humans Motion control Motion planning
Content Type	Text
Resource Type	Article

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