Dynamic Modeling and Control Simulation of a Modified Delta Manipulator

被引：0

作者：

Hao, Jianlong ^{[1
]}

Xie, Xiaoliang ^{[1
]}

Bian, Guibin ^{[1
]}

Feng, Zhenqiu ^{[1
]}

Hou, Zengguang ^{[1
]}

Yu, Hongnian ^{[2
]}

Vladareanu, Luige ^{[3
]}

机构：

[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

[2] Bournemouth Univ, Fac Sci & Technol, Poole BH12 5BB, Dorset, England

[3] Romanian Acad, Inst Solid Mech, Robot & Mechatron Dept, Bucharest 1, Romania

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年

关键词：

Dynamic modeling; Modified delta manipulator; PD computed torque control; Co-simulation;

D O I：

暂无

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 delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper.

引用

页码：1573 / 1578

页数：6

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