Abstract
Dynamical analysis of Double-H SMG, a novel Cartesian four-dof parallel robot driven by differential belts and differential screws is discussed in this paper. The Double-H SMG is planned to be applied to a haptic device that is manipulated by gripping the tip. A dynamical decoupling design is favorable for the impedance control of the robot. A dynamic simulator was developed using Simscape Multibody. The efficiency of the design for the small decoupling in the inertia matrix was confirmed by using the simulator.
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