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[33014] Artykuł:

Design and experimental test of a pneumatic parallel manipulator tripod type 3UPRR

Czasopismo: Acta Mechanica et Automatica   Tom: 4, Zeszyt: 4, Strony: 9-13
ISSN:  1898-4088
Opublikowano: 2010
 
  Autorzy / Redaktorzy / Twórcy
Imię i nazwisko Wydział Katedra Procent
udziału		 Liczba
punktów
Ryszard Dindorf orcid logoWMiBMKatedra Urządzeń Mechatronicznych**503.00  
Paweł Łaski orcid logoWMiBMCentrum Laserowych Technologii Metali**503.00  

Grupa MNiSW:  Publikacja w recenzowanym czasopiśmie wymienionym w wykazie ministra MNiSzW (część B)
Punkty MNiSW: 6

Pełny tekstPełny tekst     Web of Science LogoYADDA/CEON    
Słowa kluczowe:

manipulator  projektowanie  badania  test 

Keywords:

manipulator  designing  researches  test 


Abstract:

The paper presents the design and experimental test of a tripod type-3UPRR pneumatic parallel manipulator. This manipulator consists of three identical kinematic chains (pneumatic axes) connecting the fixed base and the moving platform. The tool center point TCP of the moving platform is a resultant of relocation of three pneumatic rodless cylinders independently controlled by servo-valves. For simulation purposes a solid model of pneumatic tripod parallel manipulator in SolidWorks was constructed. Since the application of 3-CAD in modelling kinematics and dynamics of parallel manipulators is restricted further simulation was carried out by means of SimMechanics library and Matlab-Simulink package. The experimental research focused on determining the precision of positioning of manipulator's end-effector point of the moving platform during point-to-point control.


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