Paper Title:
Comparative Dynamic Analysis of Two Parallel Robots
  Abstract

The paper presents a comparative dynamic modeling and VR (virtual reality) simulation for two 3 DOF medical parallel robots: a three coupled motions structure (Orthoglide robot) versus two coupled motion parallel structure (robot of type 1PRRR+2PRPaR). Kinematical and dynamical models, followed by a VR application with control aspects are presented for these two parallel robots. The innovative user interface for high-level control of the two parallel robots, presented in the paper, was developed in MATLAB - Simulink and SimMechanics environment, while the closed form dynamic models were obtained in MAPLE program. This kind of parallel robots can be successfully applied for medical applications where accuracy and high dynamic behavior are required. This research will lay a good foundation for the development of medical parallel robots.

  Info
Periodical
Solid State Phenomena (Volumes 166-167)
Edited by
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
Pages
345-356
DOI
10.4028/www.scientific.net/SSP.166-167.345
Citation
N. R. Rat, M. Neagoe, S. D. Stan, "Comparative Dynamic Analysis of Two Parallel Robots ", Solid State Phenomena, Vols. 166-167, pp. 345-356, 2010
Online since
September 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Chun Chen, Er Yue Liu, Zi Wei Chen, Qing Liang Wang, Yu Mei Huang
Abstract:After using three-dimensional software for the 2-PRR parallel mechanism modeled into ADAMS, and on one of the links in ANSYS is flexible...
109
Authors: Shao Gang Liu, Edris Farah
Abstract:Robotic arm with six degrees of freedom can be successfully used to do a surgical task through a small incision called (RCM point) on the...
49