Position Control of a 3-RRR Planar Parallel Manipulator with Non-Planar Links Using External Encoders-Reference-Cited by-同舟云学术

Position Control of a 3-RRR Planar Parallel Manipulator with Non-Planar Links Using External Encoders

Published:2014-06 Issue: Volume:971-973 Page:1280-1283
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Dash Anjan Kumar¹,Krishnamurthy Sai¹,Prasadh Shyam¹,Sundar Vishanth¹

Affiliation:

1. SASTRA University

Abstract

A Planar Parallel Manipulator (PPM) with non-planar links overcomes most of the shortcomings in conventional manipulators. Due to cantilever action, the links of a PPM develop bending stress. When the links are non-planar (having inclination with the horizontal plane), this cantilever action reduces and the same manipulator can have higher payload capacity. In this project, a planar 3-RRR manipulator with non-planar links is investigated for rectifying singularity at home configuration, and a novel method of position feedback of the motor is designed, fabricated and tested with rest of the motion control components.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.971-973.1280.pdf

Reference4 articles.

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2. Balaji B, Muthuramalingam S, Venkitachalam P, Ganesh M and Dr. Anjan Kumar Dash, Design, simulation and static analysis of a 3-RRR planar parallel manipulator, School of Mechanical Engg., SASTRA University, India.

3. H R Mohammadi Daniali, P J Zsombar-Murray and J Angeles, Singularity Analysis of Planar Parallel Manipulators, Mech. Mach theory, Vol 30, No. 5, p.665 – 678, (1995).

4. Tsai L, Robotic analysis: The mechanics of serial and parallel manipulators, John Wiley & Sons, (1999).

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