Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1995.10a
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- Pages.1013-1016
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- 1995
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- 2005-8446(pISSN)
Dynamic Modeling for 6-DOF Parallel Machine Tool
6 자유도 병렬 공작기계를 위한 동역학 모델링
Abstract
This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.