{"title":"SYNTHESIS AND CONTROL 3-DOF PLANAR PARTLY DECOUPLED PARALLEL MANIPULATOR","authors":"Vo Dinh Tung","doi":"10.26480/jmerd.05.2019.57.60","DOIUrl":null,"url":null,"abstract":"This paper deals with a new planar parallel manipulator, kinetic energy of this mechanism, designing controller. The translation movements are decoupled from rotation. The control algorithm of parallel robot satisfying partial decoupling between translation and orientation degrees of freedom is synthesized. Simulation result of control algorithm in desired trajectory of end-effector of robot is shown. Here parallel manipulator control algorithm while intersecting singular zones is considered.","PeriodicalId":16153,"journal":{"name":"Journal of Mechanical Engineering Research and Developments","volume":"6 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2019-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanical Engineering Research and Developments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.26480/jmerd.05.2019.57.60","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
This paper deals with a new planar parallel manipulator, kinetic energy of this mechanism, designing controller. The translation movements are decoupled from rotation. The control algorithm of parallel robot satisfying partial decoupling between translation and orientation degrees of freedom is synthesized. Simulation result of control algorithm in desired trajectory of end-effector of robot is shown. Here parallel manipulator control algorithm while intersecting singular zones is considered.
期刊介绍：
The scopes of the journal include, but are not limited to, the following topics: • Thermal Engineering and Fluids Engineering • Mechanics • Kinematics, Dynamics, & Control of Mechanical Systems • Mechatronics, Robotics and Automation • Design, Manufacturing, & Product Development • Human and Machine Haptics Specific topics of interest include: Advanced Manufacturing Technology, Analysis and Decision of Industry & Manufacturing System, Applied Mechanics, Biomechanics, CAD/CAM Integration Technology, Complex Curve Design, Manufacturing & Application, Computational Mechanics, Computer-aided Geometric Design & Simulation, Fluid Dynamics, Fluid Mechanics, General mechanics, Geomechanics, Industrial Application of CAD, Machinery and Machine Design, Machine Vision and Learning, Material Science and Processing, Mechanical Power Engineering, Mechatronics and Robotics, Artificial Intelligence, PC Guided Design and Manufacture, Precision Manufacturing & Measurement, Precision Mechanics, Production Technology, Quality & Reliability Engineering, Renewable Energy Technologies, Science and Engineering Computing, Solid Mechanics, Structural Dynamics, System Dynamics and Simulation, Systems Science and Systems Engineering, Vehicle Dynamic Performance Simulation, Virtual-tech Based System & Process-simulation, etc.
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