Motion Control of Parallel Link Robot with 3-DOF in Posture

Takafumi Shimizu; Naoyuki Takesue

doi:10.57272/jciftomm.7.0_124

Vol. 7 (2024)

DOI https://doi.org/10.57272/jciftomm.7.0_124

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Host: Japanese Council of IFToMM

Name : The 7th Jc-IFToMM International Symposium (in conjunction with The 30th Jc-IFToMM Symposium on Theory of Machines and Mechanisms)

Location : Kitakyushu, Japan

Date : June 22, 2024 - June 23, 2024

Motion Control of Parallel Link Robot with 3-DOF in Posture

*Takafumi Shimizu, Naoyuki Takesue

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CONFERENCE PROCEEDINGS OPEN ACCESS

Pages 124-129

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Abstract

By attaching arm robots to mobile robots, it is expected to develop systems for automating household chores, assisting the physically disabled, and so on. However, commercially available arm robots are large and heavy, making it difficult to use them in a limited space such as a home. Therefore, in this study, we focus on the parallel link mechanism and develop a parallel link robot with 3-DOF posture. In this paper, we describe the inverse kinematics solution by numerical analysis and the motion control of posture.

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