Synthesis and Control of Spatial Network-structure Robot

Abstract

This paper describes dimensional synthesis and motion control of a spatial network-structure robot. Direct kinematics of the robot which was composed of 2 modules and had 5 degree-of-freedom (DOF) was carried out based on direct kinematics of each module. Singular configuration of the module with 3 DOF was analyzed with transmission index. A prototype of the robot was improved so as to avoid the singular configurations and was examined with motion control experiments.