Modelling and control of a parallel redundant manipulator with hydraulic actuators

被引：0

作者：

Liu, Y. ^{[1
]}

Handroos, H. ^{[1
]}

Wu, H. ^{[1
]}

机构：

[1] Lappeenranta Univ Technol, Dept Mech Engn, FIN-53850 Lappeenranta, Finland

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2006年 / 220卷 / I3期

关键词：

modelling; position control; parallel manipulator; hydraulic actuators;

D O I：

10.1243/09596518JSCE99

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The parallel robotic manipulator, MULTIPOD, is specially designed for carrying out drilling tasks in mines. It is based on two parallel three-degree-of-freedom mechanisms in serial connection. The structure that provides excellent stiffness is hydraulically driven and has six degrees of mobility. The pose of the end-effector is described by five degrees of freedom. In this paper, complete kinematic and dynamic analyses of the manipulator are carried out. In addition, a proportional controller equipped with hydraulic force feedback is designed for the robot. The simulated results that demonstrate the behaviour of the manipulator are presented in this paper.

引用

页码：211 / 221

页数：11

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