Dynamic Modeling and Control of Parallel Robots Presentation

A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform or end-effector. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators. This device is called a Stewart platform or the Gough-Stewart platform in recognition of the engineers who first designed and used them.

Parallel robots are usually more limited in the workspace; for instance, they generally cannot reach around obstacles. The calculations involved in performing the desired manipulation (forward kinematics) are also usually more difficult and can lead to multiple solutions.

Mon, 2014/07/21
Faculty of Electrical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)