TY - GEN
T1 - A 6-DOF parallel robot for optical precise operation
AU - Rong, Weibin
AU - Li, Ma
AU - Sun, Lining
AU - Li, Zheng
PY - 2006
Y1 - 2006
N2 - In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and Dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields.
AB - In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and Dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields.
UR - https://www.scopus.com/pages/publications/50249084911
U2 - 10.1109/IECON.2006.347494
DO - 10.1109/IECON.2006.347494
M3 - 会议稿件
AN - SCOPUS:50249084911
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4165
EP - 4169
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -