Abstract
Abstract In this paper, modeling, dynamic analysis and position control of a 3-PUU translational parallel manipulator (TPM) is investigated. After the general mechanical design of the manipulator all parts are drawn and modeled in SolidWorks, and a simulation of the motion in three dimensional space is made. For dynamic analysis relevant equations are derived from geometrical relations of the model and finally the forward and inverse kinematic solutions of the non-linear model are developed by using a MATLAB iteration algorithm. Furthermore the transfer functions of the position control system with a block diagram are derived and a control simulation with use of MATLAB Simulink is made. Simulation results are compared with real time system responses and satisfactory results are obtained
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
