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[45270] Artykuł:

Control system of delta manipulator with pneumatic artificial muscles

Czasopismo: Engineering Mechanics 2016   Strony: 546-549
ISSN:  1805-8248
ISBN:  978-80-87012-59-8
Wydawca:  ACAD SCI CZECH REPUBLIC, INST THERMOMECHANICS, DOLEJSKOVA 5, PRAGUE 8, 182 00, CZECH REPUBLIC
Opublikowano: 2016
Seria wydawnicza:  Engineering Mechanics
 
  Autorzy / Redaktorzy / Twórcy
Imię i nazwisko Wydział Katedra Procent
udziału		 Liczba
punktów
Jakub Takosoglu orcid logoWMiBMKatedra Technologii Mechanicznej i Metrologii*10015.00  

Grupa MNiSW:  Materiały z konferencji międzynarodowej (zarejestrowane w Web of Science)
Punkty MNiSW: 15
Klasyfikacja Web of Science: Proceedings Paper

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Keywords:

pneumatic muscle actuator  electro-pneumatic manipulator  delta manipulator  PID controller  performance criteria 


Abstract:

A project of control system and electro-pneumatic delta manipulator of three degrees of freedom with pneumatic muscle actuators was presented in this paper. Due to the features of the drives applied, the manipulator is characterised by quick action, smooth start and stop, high overload capacity as well as a great number of operating cycles in relation to traditional pneumatic cylinders. A standard PID controller was applied in the control system. The process of tuning PID controller with Ziegler-Nichols method that is based on the evaluation of the system, which is on the verge of stability, was presented herein. An analysis the quality of control for the suggested controller was conducted and the results of experimental research of positioning the effector of the delta manipulator are included as well.


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