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Intelligent Data Acquisition and Information Process Technologies
and Their Applications. Part II.




Vol. 19, Special Issue, February 2013, pp.64-67



Design and Optimal Control of Parallel Robot


1 Ying Sun, 2 Yuesheng Gu and 1 Hegen Xiong

1 College of Machinery and Automation, B.O.X 242, Wuhan University of Science and Technology, Wuhan, 430081, China,

2 Department of Computer Science, Henan Institute of Science and Technology, Xinxiang 453003, Henan, China

+86-027-68862283, wustsunying@126.com



Received: 2012   /Accepted: 15 January 2013   /Published: 19 February 2013

Digital Sensors and Sensor Sysstems


Abstract: As a completely new-type of robot, the parallel robot possesses a lot of advantages that the serial robot does not, such as high rigidity, great load-carrying capacity, small error, high precision, small self-weight/load ratio, good dynamic behavior and easy control, hence its range is extended in using domain. The current status of research on the parallel robot is described in this paper, including the introduction and the characteristics of the parallel robot, current status of research, classification of parallel robot, kinematics analysis, dynamics analysis, singular configuration analysis and workspace analysis in parallel robot and so on. Then the actual state and development trends of parallel robot, some problems and challenges in parallel robot industrialization of our nation are expounded .In order to adapt to machine industry development, the prospect of parallel robot is presented in the end.


Keywords: Parallel robot, Kinematics, Dynamics, Singular configuration, Modular design


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