An Experimental Study on the Development, Kinematics and Control of a 4-DOF Delta Parallel Manipulator

被引：0
作者：
Azmoun, Mehdi [1 ]
Rouhollahi, Ali [2 ]
Masouleh, Mehdi Tale [2 ]
Kalhor, Ahmad [2 ]
机构：
[1] Univ Tehran, Fac New Sci & Technol, Human & Robot Interact Lab, Tehran, Iran
[2] Univ Tehran, Sch Elect & Comp Engn, Human & Robot Interact Lab, Tehran, Iran
来源：
2017 IEEE 4TH INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED ENGINEERING AND INNOVATION (KBEI) | 2017年
关键词：
Parallel Manipulators; PID Control; Inverse Kinematic; ROBOT;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this article inverse kinematic model of Delta robots with 4 degrees of freedom is calculated and the process of this calculation is expressed in details. Here an experimental setup of the delta robot with four degrees of freedom consists of servo driver servo Motors mechanical components including covering flang,coupling and physical structure of the manipulator. There is also a PID controller based on inverse kinematic equations which is designed to take the difference value of the angles calculated by the encoder motor and the angels resulted from inverse kinematic equations for the input as the system error value and its output is given to motor as the velocity rule in order for the end effector of the manipulator to reach the desired value. Finally an experimental test has been done and its result is depicted as figure.
引用
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页码：1006 / 1010
页数：5
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