Kinematic, Dynamic Modeling and Remote Control of a Robotic Machine

In this paper, a robotic machine with 3 degrees of freedom (DOF) is proposed. First, the geometric structure of the 3-DOF parallel robot is presented; in the mechanism, a fourth kinematic link -a passive link connecting the base center to the moving platform center -is introduced. This last link is used to constrain the motion of the moving platform to only 3-DOF. Then, the kinematic and dynamic models are developed. With the models, a web-based remote control approach is then applied. The 3-DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3-DOF structure is set up, and some conclusions are given by the end.