Research and Design of Control System for a 3-DOF Hybrid Robot

Abstract:

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This paper studied a novel 3-DOF hybrid robot, and invented a new hybrid structure which was composed of 2-DOF parallel structure and 1-DOF serial structure. The structure of this mechanism was simple, stiffness and positioning accuracy was high. The control system based on ARM micro-controller was a step motor open-loop control system, which features compact and low cost while the control accuracy can be guaranteed. In this paper, the body composition of the robot was described, and its inverse kinematics were derived and further simplified. Hardware and software of the motion control system was designed in detail and experimented through prototype.

Info:

Periodical:

Edited by:

Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen

Pages:

207-210

DOI:

10.4028/www.scientific.net/AMM.43.207

Citation:

J. Li et al., "Research and Design of Control System for a 3-DOF Hybrid Robot", Applied Mechanics and Materials, Vol. 43, pp. 207-210, 2011

Online since:

December 2010

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$35.00

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