Planar Parallel 3-rpr Manipulator

نویسندگان

  • Robert L. Williams
  • Atul R. Joshi
چکیده

This paper describes the design, construction, and control of a planar three degree-of-freedom (dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement in hardware a 3-RPR manipulator design and to evaluate parallel manipulator control using pneumatics. The manipulator has been built and controlled in real-time.

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تاریخ انتشار 1999