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The development of mechanism with hybrid kinematic structure prototype

Poppeová V., Uríček J., Bulej V., Šindler P.

Journal of Machine Engineering

2009

Vol. 9, No. 3

102--109

This paper deals with the development of mechanism with hybrid kinematic structure called trivariant and its subsystems. Hybrid machines are characterized by connecting advantages of both type mechanisms together - high dynamics of parallel mechanisms for positioning and high flexibility and high mobility range of serial mechanisms for orientation. At our department was built the small-scale mechanism prototype used for testing, functional verification, for education and training. There was created the simulation software and control system based on standard PC for this prototype. Our prototype can be applied like small CNC milling machine but it is possible to modify it also for the manipulation with objects like robot device.

Adaptive control applied to parallel kinematic machines

Balan R., Maties V., Hancu O., Stan S.

Problemy Eksploatacji

2005

nr 2

201--210

In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. The paper is focused on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.

W artykule przedstawiono różne podejścia dotyczące sterowania w maszynach o kinematyce równoległej. Autorzy prezentują algorytm typu Modelowe Sterowanie Predykcyjne, wykorzystujący symulację on-line i sterowanie oparte na regułach. Efektywność i możliwość zastosowania proponowanego algorytmu dla systemu ruchu SISO zostały zademonstrowane na przykładach.