This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for highspeed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMSTM . In addition, the Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.

No abstract

This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The simulation and experimental results show that three different controllers, the PD, PD + velocity feedforward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

No abstract