Kinematic, Dynamic and Control of a 3-DOF Parallel Robot (3-PSS)

Authors

  • Tonatiuh Hernandez-Cortes Universidad Politécnica de Pachuca
  • Luis Pacheco-Escamilla Universidad Politécnica de Pachuca
  • Jesus A Meda-Campaña SEPI-ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN, Col. Lindavista, Ciudad de México, México
  • Ricardo Tapia-Herrera CONACYT-Universidad Tecnológica de Mixteca, Huajuapan de León, Oaxaca, México.

Keywords:

parallel manipulator, prismatic join, degree of freedom, kinematics, dynamics, trajectory planning, fuzzy control.

Abstract

In this paper, the design and simulation of a Fuzzy Control for a 3 Degrees Of Freedom (3-DOF) Delta Parallel Robot with Prismatic actuators are presented. The position of the moving platform and prismatic joints are solved the direct and inverse kinematic analysis.  The forces of the actuated prismatic joints are computed with the dynamic analysis using the Lagrangian approach and compared with the obtained forces in simulation; trajectory planning is "point-to-point", with polynomial functions. The proposed controller is a Fuzzy Control System and the effectiveness has performance comparing the desired trajectory against the obtained via simulation.

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Published

2022-08-18

How to Cite

Hernandez-Cortes, T., Pacheco-Escamilla, L. ., Meda-Campaña, J. A., & Tapia-Herrera, R. . (2022). Kinematic, Dynamic and Control of a 3-DOF Parallel Robot (3-PSS) . International Journal of Combinatorial Optimization Problems and Informatics, 13(3), 17–33. Retrieved from https://ijcopi.org/ojs/article/view/311

Issue

Vol. 13 No. 3 (2022)

Section

Articles

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