Publikacje

Abstract:

This paper presents the design of a planar parallel manipulator with a pneumatic drive.
Such manipulators are used in production lines for sorting, selecting, packing, and palletizing
workpieces. This paper presents simulation studies of the designed manipulator in
Matlab/Simulink software and using the SimMechanics library. A simple kinematics problem and
an inverse kinematics problem were solved in order to carry out simulation studies of the designed
manipulator. Simulation studies were also carried out on the dynamics of the manipulator using a
mathematical model describing the physical phenomena occurring during the operation of the
manipulator’s electro-pneumatic servo-drives. The main objective of the simulation study was to
determine the manipulator working space and the possibility of positional control of the manipulator
end-effector using a fuzzy logic controller.

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A Design of a 2-DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive