Modeling and simulation of spatial 6-DOF parallel robots using Simulink and SimMechanics

Chifu Yang, Zhengmao Ye, O. Ogbobe Peter, Junwei Han

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

Abstract

This paper addressed the dynamics and control for completely spatial 6-DOF parallel robots (SPR) in computer. The complex dynamic equations are derived via using Kane methods, and a typical PID controller is developed for spatial 6-DOF parallel robots. Making use of the software of Simulink, the computer model of SPR is built in terms of the dynamic equations of SPR, and the simulation is realized for SPR under PID controller in Simulink. The computer model of SPR is also established with SimMechanics to confirm the computer model in Simulink, according to the physical relationship of SPR. The simulation results demonstrate that the computer model of SPR in Simulink is correct, and the two methods of computer modeling are effective for SPR and other mechanical systems, especially the SimMechanics like ADAMS.

Original languageEnglish
Title of host publicationProceedings - 2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010
Pages444-448
Number of pages5
DOIs
StatePublished - 2010
Externally publishedYes
Event2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010 - Chengdu, China
Duration: 9 Jul 201011 Jul 2010

Publication series

NameProceedings - 2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010
Volume4

Conference

Conference2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010
Country/TerritoryChina
CityChengdu
Period9/07/1011/07/10

Keywords

  • Computer modeling
  • Control
  • Dynamics
  • Kane method
  • Parallel robots
  • Simulation

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