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Warianty tytułu
Języki publikacji
Abstrakty
The paper presents the design and experimental test of a tripod type-3UPRR pneumatic parallel manipulator. This manipulator consists of three identical kinematic chains (pneumatic axes) connecting the fixed base and the moving platform. The tool center point TCP of the moving platform is a resultant of relocation of three pneumatic rodless cylinders independently controlled by servo-valves. For simulation purposes a solid model of pneumatic tripod parallel manipulator in SolidWorks was constructed. Since the application of 3-CAD in modelling kinematics and dynamics of parallel manipulators is restricted further simulation was carried out by means of SimMechanics library and Matlab-Simulink package. The experimental research focused on determining the precision of positioning of manipulator's end-effector point of the moving platform during point-to-point control.
Słowa kluczowe
Czasopismo
Rocznik
Tom
Strony
9--13
Opis fizyczny
Bibliogr. 9 poz., rys.
Twórcy
Bibliografia
- 1. Company O. (2000), Machines-outils rapides à structure parallèle, Méthodologie de conception, applications et nouveaux concepts, Universite Montpellier II, Sciences et Techniques du Languedoc, Montpellier.
- 2. Dindorf R. P. Laski, Takosoglu J. (2006), Model research of pneumatic parallel manipulator, Virtual Design and Automation, New Trends in Collaborative Product Design, Edited by Zenobia Weiss, Publishing House of Poznan University of Technology. Poznan.
- 3. Dindorf R., Laski P. (2005), Model research of pneumatic parallel manipulator prototype, Mechanik, 50, 8-9, 664-671,.
- 4. Dindorf R., Laski P. (2005), Model research of pneumatic parallel manipulator, Pomiary Automatyka Kontrola, 50, 6, 14-16.
- 5. Hebsacker M. (2000), Entwurf und Bewertung Paralleler Werkzeugmaschinen - das Hexagliede, ETH, Zürich.
- 6. Laski P, Dindorf R. (2007): Prototype of pneumatic parallel manipulator, Hydraulika a Pneumatika (Slovak Republic), 23, 1, 22-24.
- 7. Łaski P., Dindorf R. (2007), Prototyping of tripod-type pneumatic parallel manipulator, 11th International Scientific Seminar on Developments in Machinery Design and Control, Červený Kláštor (Slovak Republic), September 11-14.
- 8. Merlet J. P. (2000), Parallel robot, Springer Verlag, New York, London.
- 9. Tsai L-W. (1999), Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BPB2-0048-0002