Design and experimental test of a pneumatic parallel manipulator tripod type 3UPRR

• Autorzy: Dindorf R. , Łaski P.
• Języki publikacji: EN

Abstrakty

EN

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

EN

manipulator; designing; researches; test

PL

manipulator; projektowanie; badania; test

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2010
• Tom: Vol. 4, no. 4
• Strony: 9--13
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Dindorf R.

autor

Łaski P.

• AGH University of Science and Technology, Kraków,

Bibliografia

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• 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