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International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3

By
Yi Xie
Yi Xie
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ISBN:
9780791859810
No. of Pages:
906
Publisher:
ASME Press
Publication date:
2011

This paper presents the control simulation of the 6-DOF parallel manipulator. The 6-DOF parallel manipulator consist of fix base and moveable platform coupled together by the six electrical actuators, each of which has two universal joints. This paper explains the modeling and simulation of the 6-DOF parallel manipulator consist of inverse kinematics, dynamic equations of motion of the 6-DOF parallel manipulator is expressed by the Lagrange formulation and computer model of control scheme using Simulink. The simulation results are presented.

Abstract
Key Words
1. Introduction
2. Kinematics Model
3 Dynamics Model
4 Controller Control Scheme
5. The Simulation Results
6. Conclusions
Acknowledgments
References
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