Dynamic Modeling and Control of Parallel Robots Presentation

Section: 
Research
Subsection: 
Presentation
Place: 
Faculty of Electrical Engineering
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)
Associate: 
A. Nasr
S.A.A. Moosavian
M.A. Shooredeli
Date: 
2014/07/21 to 2014/09/21

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 a desired manipulation (forward kinematics) are also usually more difficult and can lead to multiple solutions.