Modelling and control of a parallel redundant manipulator with hydraulic actuators

被引：0
作者：
Liu, Y. [1 ]
Handroos, H. [1 ]
Wu, H. [1 ]
机构：
[1] Lappeenranta Univ Technol, Dept Mech Engn, FIN-53850 Lappeenranta, Finland
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2006年 / 220卷 / I3期
关键词：
modelling; position control; parallel manipulator; hydraulic actuators;
D O I：
10.1243/09596518JSCE99
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The parallel robotic manipulator, MULTIPOD, is specially designed for carrying out drilling tasks in mines. It is based on two parallel three-degree-of-freedom mechanisms in serial connection. The structure that provides excellent stiffness is hydraulically driven and has six degrees of mobility. The pose of the end-effector is described by five degrees of freedom. In this paper, complete kinematic and dynamic analyses of the manipulator are carried out. In addition, a proportional controller equipped with hydraulic force feedback is designed for the robot. The simulated results that demonstrate the behaviour of the manipulator are presented in this paper.
引用
收藏
页码：211 / 221
页数：11
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