Browsing by Author "Kuo, Chien-Hsun"

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Real-time interpolator and Contour Tracking in Link-space for a 3 DOF Parallel Mechanism
(2008)
Cheng, Yuan-Ming
;
Kuo, Chien-Hsun
;
Chin, Jih-Hua
;
機械工程學系
;
Department of Mechanical Engineering
Parallel mechanisms could be hardly used in contour tracking because of their mechanism features. This study proposed a link-space real time contour tracking for a 3 DOF (Z - alpha and beta) hydraulic parallel mechanism. The essence of this approach is to convert control points of command trajectory to link space by inverse kinematics. A real-time interpolator was created and the multi-axis cross-coupled pre-compensation control (MCCPM) was constructed for link-space contour tracking. It was shown that a contour-accurate trajectory tracking could be performed which was impossible in the original Z-alpha-beta space. Other advantages of this link-space approach were time efficiency and the uniform tracking velocity.