SYNTHESIS AND CONTROL 3-DOF PLANAR PARTLY DECOUPLED PARALLEL MANIPULATOR

Vo Dinh Tung

Abstract


 This paper deals with a new planar parallel manipulator, kinetic energy of this mechanism, designing controller. The translation movements are decoupled from rotation. The control algorithm of parallel robot satisfying partial decoupling between translation and orientation degrees of freedom is synthesized. Simulation result of control algorithm in desired trajectory of end-effector of robot is shown. Here parallel manipulator control algorithm while intersecting singular zones is considered.


Full Text:

PDF

References


Trujillo, J.L.A., Serrezuela, R.R., Zarta, J.R., Ramos, A.M.N. 2018. Direct and Inverse Kinematics of a Manipulator Robot of Five Degrees of Freedom Implemented in Embedded System-CompactRIO, Adv. Eng. Res. Appl., 405–419.

Magdy, M., Fanni, M., Elgammal, A.T., Mohamed, A.M. 2016. New fully decoupled manipulator with three translational motion for pick and place applications, in 2016 2nd International Conference on Control, Automation and Robotics (ICCAR), 258–262.

Allen, B.C., Charles, S.K. 2019. Effect of Gyroscope Parameters on Gyroscopic Tremor Suppression in a Single Degree of Freedom, J. Mech. Med. Biol., 1950024.

Xu, J., Le Baron, J.P., Arakelian, V. 2017. Tolerance Analysis of Planar Serial Manipulators with Decoupled and Non-decoupled Dynamics, in New Trends in Mechanism and Machine Science, Springer, 29–37.

Essomba, T., Vu, L.N. 2018. Kinematic analysis of a new five-bar spherical decoupled mechanism with two-degrees of freedom remote center of motion, Mech. Mach. Theory, 119, 184–197.

Nef, T., Klamroth-Marganska, V., Keller, U., Riener, R. 2016. Three-dimensional multi-degree-of-freedom arm therapy robot (ARMin), in Neurorehabilitation technology, Springer, 351–374.

Ram, R.V., Pathak, P.M., Junco, S.J. 2019. Inverse kinematics of mobile manipulator using bidirectional particle swarm optimization by manipulator decoupling, Mech. Mach. Theory, 131, 385–405.

Bonilla, M., Pallottino, L., Bicchi, A. 2017. Noninteracting constrained motion planning and control for robot manipulators, in 2017 IEEE International Conference on Robotics and Automation (ICRA), 4038–4043.

Kang, Z.H., Cheng, C.A., Huang, H.P. 2019. A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators, Int. J. Adv. Robot. Syst., 16(3), 1729881419858910.

Oh, S., Kong, K. 2015. Two-degree-of-freedom control of a two-link manipulator in the rotating coordinate system, IEEE Trans. Ind. Electron., 62(9), 5598–5607.

Li, B., Li, Y., Zhao, X. 2016. Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator, Mech. Mach. Theory, 104, 222–233.

Hao, G., Li, H. 2015. Conceptual designs of multi-degree of freedom compliant parallel manipulators composed of wire-beam based compliant Cite The Article: Vo Dinh Tung (2019). Synthesis And Control 3-Dof Planar Partly Decoupled Parallel Manipulator.

Journal of Mechanical Engineering Research and Developments, 42(5) : 57-60.

mechanisms, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci., 229(3), 538–555.

Briot, S., Khalil, W. 2015. Dynamics of parallel robots, From rigid bodies to Flex. Elem. Springer.

Berti, A., Merlet, J.P., Carricato, M. 2016. Solving the direct geometrico-static problem of underconstrained cable-driven parallel robots by interval analysis, Int. J. Rob. Res., 35(6), 723–739.

Zhang, N., Shang, W. 2016. Dynamic trajectory planning of a 3-DOF under-constrained cable-driven parallel robot, Mech. Mach. Theory, 98, 21–35.

Sun, T., Liang, D., Song, Y. 2017. Singular-perturbation-based nonlinear hybrid control of redundant parallel robot, IEEE Trans. Ind. Electron., 65(4), 3326–3336.

Gouttefarde, M., Collard, J.F., Riehl, N., Baradat, C. 2015. Geometry selection of a redundantly actuated cable-suspended parallel robot, IEEE Trans. Robot., 31(2), 501–510.


Refbacks

  • There are currently no refbacks.

Copyright © 2020 Plemillan Publishing Corporation. All rights reserved.