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Browse Conference Publications > Control and Automation, 2007. ... Help

Kinematic, Dynamic Modeling and Remote Control of a Robotic Machine

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3 Author(s)
Dan Zhang ; Univ. of Ontario, Oshawa ; Lihui Wang ; Zhuming Bi

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.

Published in:
Control and Automation, 2007. ICCA 2007. IEEE International Conference on

Date of Conference: May 30 2007-June 1 2007

Page(s):
2441 - 2446
E-ISBN :
978-1-4244-0818-4
Print ISBN:
978-1-4244-0818-4
INSPEC Accession Number:
9807673
Conference Location :
Guangzhou
Digital Object Identifier :
10.1109/ICCA.2007.4376801
Product Type:
Conference Publications

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