Modelling & Control of Parallel Robots

Fig. 13: Image of the parallel kinematic "SpiderMill" for milling tasks
Fig. 13: Image of the parallel kinematic "SpiderMill" for milling tasks
Fig. 14: Geometric and topological structure of the SpiderMill
Fig. 14: Geometric and topological structure of the SpiderMill

Project definition

Parallel kinematics are robots that hold and contact their tools with multiple limbs. Generally an application-specific and flexible construction is desirable, which is made possible by a modular system utilising standard components (Fig. 13). To guide and control such application-specific parallel kinematics, a correspondingly generic and adaptive control system and uniform modelling of the kinematic structure are necessary (Fig. 14).

Areas of expertise

  • Uniform modelling of serial and parallel kinematic structures
  • Automatic production of the system of equations for forward and inverse kinematic transformation from the models
  • Automatic production of the system of equations for calculation of position, velocity, and acceleration for all limbs
  • Numeric solution of the generated system of equations

Applications

  • Kinematic simulation of all types of (parallel) kinematic structures
  • Control systems for two parallel kinematics assembled from standard components (the SpiderMill and Tripod systems)

Projects

  • Project of the Rhineland-Palatinate Foundation for Innovation "Simple forms of parallel kinematic structures" (DYNAMO), 2003 – 2004

Wanted

Student Jobs / Open Positions