Study of design, kinematics and virtual control of 4 degrees of freedom parallel robot

Abstract

The paper present the design control and kinemat-ics study of 4 degrees of freedom parallel robot. CAD-model of the robot is obtained in SolidWorks 2009. Virtual Reality control was obtained in Matlab/Simulink. Simulink is an environment for multidomain simulation and provides tools for modelling, data management and dynamic simu-lation. With these tools the dynamic behaviour of the robot was tested and simulated control was done.