- Tytuł:
- Design and experimental test of a pneumatic parallel manipulator tripod type 3UPRR
- Autorzy:
-
Dindorf, R.
Łaski, P. - Powiązania:
- https://bibliotekanauki.pl/articles/386494.pdf
- Data publikacji:
- 2010
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
manipulator
projektowanie
badania
test
designing
researches - Opis:
- The paper presents the design and experimental test of a tripod type-3UPRR pneumatic parallel manipulator. This manipulator consists of three identical kinematic chains (pneumatic axes) connecting the fixed base and the moving platform. The tool center point TCP of the moving platform is a resultant of relocation of three pneumatic rodless cylinders independently controlled by servo-valves. For simulation purposes a solid model of pneumatic tripod parallel manipulator in SolidWorks was constructed. Since the application of 3-CAD in modelling kinematics and dynamics of parallel manipulators is restricted further simulation was carried out by means of SimMechanics library and Matlab-Simulink package. The experimental research focused on determining the precision of positioning of manipulator's end-effector point of the moving platform during point-to-point control.
- Źródło:
-
Acta Mechanica et Automatica; 2010, 4, 4; 9-13
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł