Design and Control of a Novel 3-DOF Parallel Robot

被引：0

作者：

Ruiz-Hidalgo, N. C. ^{[1
]}

Blanco-Ortega, A. ^{[1
]}

Abundez-Pliego, A. ^{[1
]}

Colin-Ocampo, J. ^{[1
]}

Arias-Montiel, M. ^{[1
]}

机构：

[1] CENIDET, Ctr Nacl Invest & Desarrollo Tecnol, Dept Ingn Mecan, Cuernavaca, Morelos, Mexico

来源：

PROCEEDINGS 2016 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS, AND AUTOMOTIVE ENGINEERING, (ICMEAE 2016) | 2016年

关键词：

Parallel robot; Inverse Kinematic; Inverse-kinematics analysis; Trajectory tracking control;

D O I：

10.1109/ICMEAE.2016.30

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposes a new configuration of a 3 DOF parallel robot which uses revolute and spherical joints. It also presents the inverse kinematic model and proposes a PID-type controller with tracking to asymptotically track a desired reference trajectory. This 3 DOF parallel robot can be utilized as a motion simulator or ankle rehabilitator robot. Some simulations were performed with the virtual prototype in MD ADAMS software to verify the performance of the PID-type controller. Finally, preliminary experimental tests using a physical prototype are presented as well.

引用

页码：66 / 71

页数：6

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