Research on Design Features of Pneumatic Drive for Kinematics Structure of Parallel Manipulator : Tripod Type

• Autorzy: Wilczyński D. , Dudziak M.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a simple construction of the tripod parallel manipulator with a pneumatic actuator and functional tests of this device. The double-acting actuators with unilateral piston rod were applied as the drives. The presented research concerns the possibility of the positioning accuracy of the manipulator using the control system which was built in the LabView. The study was performed for the different values of the supply pressure of actuators and different load conditions of work platform of the manipulator. The results identified the key functional features (kinematic) and load conditions. The results allowed to specify the application areas of the pneumatic manipulator and to show the directions to improve the positioning accuracy.

Słowa kluczowe

EN

pneumatic drive; parallel manipulator; tripod

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2014
• Tom: Vol. 38, No. 1
• Strony: 93--104
• Opis fizyczny: Bibliogr. 9 poz., il., rys., wykr.

Twórcy

autor

Wilczyński D.

• Chair of Basics of Machine Design, Poznan University of Technology

autor

Dudziak M.

• Chair of Basics of Machine Design, Poznan University of Technology
• Technical Institute, Higher Vocational State School in Kalisz

Bibliografia

• [1] Week M., Staimer D., 2002: Parallel Kinematic Machine Tools - Current State and Future Potentials, Annals o f the CJRP, Vol. 51/2/2002, pp. 671-681.
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• [3] Bi Z. M., Sherman Y. T. Lang, 2006: Kinematic and Dynamic Models of a Tripod System with a Passive, Leg, IEEE/ASME Transactions on Mechatronics, 2006, vol. 11, No.1, pp.108-112.
• [4] Dasgupta B., Mruthyunjaya T.S., 2000: The Stewart platform manipulator: a review, Mechanism and Machine Theory, 2000, 35, pp. 15-40.
• [5] Wilczyński D., Talaśka K., 2010: Analiza wpływu cech konstrukcyjnych napędu pneumatycznego na jego funkcjonalność w strukturze kinematycznej manipulatora równoległego, materiały XVIII Francusko-Polskiego Seminarium Mechaniki, Warszawa, maj/czerwiec 2010, pp. 116-123.
• [6] Wilczyński D., Dudziak M., Auguściński A., Talaśka K., 2009: „Positioning of parallel manipulator 3 RPS type with conventional pneumatic drive”, “Machine Modelling and Simulations" Scientific and Technical Society at the University of Żilina 2009, pp. 305-310.
• [7] Wilczyński D., Dudziak M., Auguściński A., Talaśka K., 2009: „Preliminary research of positioning of parallel manipulator with pneumatic drive - tripod type”, XVIIth French-Polish Seminar of Mechanics Proceedings 15.05.2009, Polytech’Lille, Viileneuve d’Ascq, France, 2009, pp. 75-79.
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