Abstract
3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed using an open-loop spatial robotic platform. The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints. The main variables in our design are the platform base positions, the geometry of the joint angles, and links of the 3-RRR planar parallel robot. These variables are calculated based on Cayley-Menger determinants and bilateration to determine the final position of the platform when moving and placing objects. Additionally, a proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot. The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller. Furthermore, real-time implementation has been tested to prove that the design performance is practical.
Highlights
Dexterous movement of robotic manipulators has received significant attention from researchers to enhance the reachable workspace, which can significantly improve industrial automation applications[1]
The novelty of this paper can be explained by firstly introducing a new algorithm, which has been developed to control the locomotion of a 3-RRR planar parallel robot based on Cayley-Menger determinants and bilateration which has been successful in solving material-handling problems
The PIλDμ controller is a generalization of the classical proportional integral derivate (PID) controller, whose integral and derivative fractional orders values can be given with any arbitrary real number
Summary
Dexterous movement of robotic manipulators has received significant attention from researchers to enhance the reachable workspace, which can significantly improve industrial automation applications[1]. The derivation of polynomials for both the 3-RRR and 3-RPR mechanisms were introduced It demonstrates the differences and similarities between the common configurations of the 3DOF planar parallel robotic platform. Researchers have intensively studied the 3-RRR in the state of the art, there is still scope to develop and control the 3-RRR planar parallel robot whose mechanical simplicity makes the designed system capable of solving locomotion problems to produce highly flexible automation for industry. The novelty of this paper can be explained by firstly introducing a new algorithm, which has been developed to control the locomotion of a 3-RRR planar parallel robot based on Cayley-Menger determinants and bilateration which has been successful in solving material-handling problems.
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