A Translational Parallel Manipulator with Three Horizontal-Axial Pneumatic Actuators for 3-D Path Tracking

Chun Peng Yeh, Lian Wang Lee, I. Hsum Li, Hsin Han Chiang

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

This paper aims to propose a novel translational parallel manipulator (TPM) with three degrees of freedom (3-DOF), driven by rodless pneumatic actuators (RPA). The developed parallel manipulator is composed of a fixed base frame, a moving platform, and three sets of parallel kinematic chains. In addition, three identical rodless pneumatic cylinders are employed as the linear actuators of the manipulator. To allow more working space for the manipulator, the RPAs are configured into horizontal positions. A mobility analysis of the parallel mechanism verifies the manipulator to possess three translational degrees of freedom. In this study, a geometric method is introduced to solve the kinematic relation between the actuated joints and the moving platform: A vector-loop closure equation is first established for each limb of the manipulator; by solving the equation, solutions for both the inverse and forward kinematics are obtained. For the control of the 3-DOF TPM, a Fuzzy-PID controller with feedback loops is applied. To improve control precision against nonlinearities and uncertainties in the pneumatic plant, a Back-propagation Neural Network (BPNN) is trained to implement effective pre-compensation. Finally, the real-time experiment is conducted to verify the path tracking control of the three-axial manipulator end-effector.

原文英語
主出版物標題2018 International Conference on System Science and Engineering, ICSSE 2018
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781538662854
DOIs
出版狀態已發佈 - 2018 十一月 1
事件2018 International Conference on System Science and Engineering, ICSSE 2018 - New Taipei City, 臺灣
持續時間: 2018 六月 282018 六月 30

出版系列

名字2018 International Conference on System Science and Engineering, ICSSE 2018

會議

會議2018 International Conference on System Science and Engineering, ICSSE 2018
國家/地區臺灣
城市New Taipei City
期間2018/06/282018/06/30

ASJC Scopus subject areas

  • 控制與系統工程
  • 控制和優化

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