This paper deals with the mechatronic design and control of a 3-RPS (Revolute-Prismatic-Spherical) parallel manipulator, which moving platform has three d.o.f.s, one translation and two rotations. Each of the three legs connects the fixed with the moving platform through a revolute and a spherical joint, respectively, while each prismatic joint consists of a DC electromechanical actuator. A prototype was built and experimentally tested by devoting particular attention to the control of the electric drives, as based on the technique of the Path-Step-Diagrams, which is commonly used for controlling pneumatic cylinders.

Mechatronic design and control of a 3-RPS parallel manipulator

Rea P.;
2018-01-01

Abstract

This paper deals with the mechatronic design and control of a 3-RPS (Revolute-Prismatic-Spherical) parallel manipulator, which moving platform has three d.o.f.s, one translation and two rotations. Each of the three legs connects the fixed with the moving platform through a revolute and a spherical joint, respectively, while each prismatic joint consists of a DC electromechanical actuator. A prototype was built and experimentally tested by devoting particular attention to the control of the electric drives, as based on the technique of the Path-Step-Diagrams, which is commonly used for controlling pneumatic cylinders.
978-331961275-1
Control Design Experimentation Mechatronics Parallel manipulators Control Design Electric drives Electromechanical actuators Electromechanical devices Fixed platforms Mechatronics Robotics Experimentation Mechatronic design Moving platform Parallel manipulators Pneumatic Cylinders Prismatic joint Spherical joint Manipulators
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11584/318422
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