Abstract
The inverse dynamic model of a three-revolute–prismatic–spherical parallel robot based on Lagrange method is presented. This parallel robot presents a different configuration in the orientation of the actuators of the already reported in the literature. The dynamic model is validated by simulations obtained with a virtual prototype under MSC Automatic Dynamic Analysis of Mechanical Systems environment. For positioning the moving platform in a desired orientation, a proportional–integral–derivative-type controller is implemented for trajectory tracking using the dynamic of the actuators. In this dynamic, the load supported is unknown, that is, due to the inclination of the moving platform, the weight is not evenly distributed. Algebraic identification of parameters is implemented in order to know the load and improve the response in the orientation of the moving platform. Some simulations were performed with the virtual prototype in co-simulation environment under MSC Automatic Dynamic Analysis of Mechanical Systems/View and MATLAB/Simulink to verify the performance of the proportional–integral–derivative controller using the algebraic parameters identification.
Highlights
Parallel robots are defined as a closed kinematic chain mechanism based on two platforms, a fixed and a moving, the latter known as end effector or moving platform
A scale prototype is being constructed to validate the kinematics, dynamics, and control strategies, in which the Max Jac Thomson Linear Actuators MX24-B8M30E1 were selected based on the results presented in this article
This article presents a 3-RPS parallel robot, which has the characteristic of having two actuators directed to the same axis and not to the center as the known 3-RPS robots and a third actuator directed to the center of the platform
Summary
Parallel robots are defined as a closed kinematic chain mechanism based on two platforms, a fixed and a moving, the latter known as end effector or moving platform. The response to position the moving platform at an angle of a 1⁄4 15 and b 1⁄4 0 is shown, using the control (26) and the dynamic model of the parallel robot (17). A scale prototype is being constructed to validate the kinematics, dynamics, and control strategies, in which the Max Jac Thomson Linear Actuators MX24-B8M30E1 were selected based on the results presented in this article
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