Dynamic and kinematic analysis of 6-bar parallel robot

Abstract

A field of the shipbuilding and the construction industry needs a large size robot. But the existing serial robots have disadvantage of deformation occurred by its weight and the vibration occurred in operating at high speed. In this study, we made the parallel robot which two serial robot connected by one link. This robot is controlled to position(x,y) and rotation(θ) by use of four DC servo motors as redundant actuation manipulators. Working space, singular point and Jacobian of this redundant parallel robot is analyzed.