NDLI: Design of high speed planar parallel manipulator and multiple simultaneous specification control

Content Provider	IEEE Xplore Digital Library
Author	Kang, B. Chu, J. Mills, J.K.
Copyright Year	2001
Description	Author affiliation: Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada (Kang, B.)
Abstract	This paper presents a planar parallel mechanism which can achieve very rapid motion due to the low inertia of its moving parts and the use of multiple simultaneous specification (MSS) control. The proposed parallel manipulator was designed based on a prismatic-revolute-revolute kinematic structure. The proximal prismatic joints were realized using a linear slider with a ball screw mechanism. All actuators remain stationary resulting in a reduction of the inertia of moving parts. Since coupling terms between multiple chains of the parallel manipulator were significant, the MSS control scheme was implemented to satisfy multiple conflicting closed-loop performance specifications. Simulation and experimental results show that the proposed planar parallel manipulator yields better dynamic performance than a conventional X-Y table and has great potential in application to high speed assembly.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2723
Ending Page	2728
File Size	477988
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.933034
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Actuators Motion control Fasteners Assembly Kinematics Manufacturing processes Equations Feedback Milling machines
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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