Contour Error of the 3-DoF Hydraulic Translational Parallel Manipulator

被引：7
|
作者：
Dindorf, Ryszard [1 ]
Wos, Piotr [1 ]
机构：
[1] Kielce Univ Technol, PL-25314 Kielce, Poland
来源：
TEROTECHNOLOGY | 2014年 / 874卷
关键词：
mechatronic devices; translational parallel manipulator; hydraulic manipulator; electrohydraulic linear axis; contour error; ADAPTIVE-CONTROL;
D O I：
10.4028/www.scientific.net/AMR.874.57
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper deals with a selected problem of contour error for the desired tracking trajectory of the spatial 3-DoF hydraulic translational parallel manipulator (TPM). The prototype hydraulic TPM consists of a fixed base and a moving platform, that are connected by the joints with three hydraulic linear axes. The closed-loop kinematic chains of the hydraulic TPM create structure 3-RRPRR, in that revolute joints R and prismatic joints P step out. The three equal integrated electro-hydraulic axes are prismatic joints P, in that hydraulic cylinders are integrated with position measuring systems and proportional directional control valves.
引用
收藏
页码：57 / 62
页数：6
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