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[19800] Artykuł:

Design of a 3-DOF tripod electro-pneumatic parallel manipulator

Czasopismo: ROBOTICS AND AUTONOMOUS SYSTEMS   Tom: 72, Strony: 59-70
ISSN:  0921-8890
Wydawca:  ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Opublikowano: Pażdziernik 2015
 
  Autorzy / Redaktorzy / Twórcy
Imię i nazwisko Wydział Katedra Procent
udziału
Liczba
punktów
Paweł Łaski orcid logoWMiBMKatedra Automatyki i Robotyki*6015.00  
Jakub Takosoglu orcid logoWMiBMKatedra Technologii Mechanicznej i Metrologii*205.00  
Sławomir Błasiak orcid logoWMiBMKatedra Technologii Mechanicznej i Metrologii*205.00  

Grupa MNiSW:  Publikacja w czasopismach wymienionych w wykazie ministra MNiSzW (część A)
Punkty MNiSW: 25
Klasyfikacja Web of Science: Article


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Keywords:

Parallel manipulators 3-DOF  Pneumatic manipulator  Electro-pneumatic servo-drive  Servo-valve  Rodless cylinder 



Abstract:

The objective of the research project was to design and construct a 3DOF tripod-type electro-pneumatic parallel manipulator that could be used for pick-and-place tasks in municipal waste recycling facilities. The fundamental requirement was that the manipulator be simple and cheap to construct, operate and maintain as well as robust and resistant to damage. The forward and inverse kinematic problem as well as working space and strength analysis issues were used for construction of manipulator. The prototype was tested using different payloads and velocities to establish its positioning accuracy and repeatability. The robot behavior was controlled with a commercially available industrial controller, which was reported insufficient for point-to-point operations required during solid waste handling. Conclusions have been drawn on how to optimize the robot structure and control. (C) 2015 Elsevier B.V. All rights reserved.