Design of a hydraulically actuated 3-DoF translational parallel manipulator
The paper presents the design solution, kinematic structure, simulation and experimental control tests of a hydraulically actuated three degree of freedom (3-DoF) translational parallel manipulator (TPM). The TPM consists of a base (fixed) platform and a moving platform connected by three serial cha...
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| creator | Dindorf, Ryszard Wos, Piotr |
| description | The paper presents the design solution, kinematic structure, simulation and experimental control tests of a hydraulically actuated three degree of freedom (3-DoF) translational parallel manipulator (TPM). The TPM consists of a base (fixed) platform and a moving platform connected by three serial chains. The closed kinematic loops of the TPM utilize 3-RRPRR serial chains with revolute R joints and prismatic P joints. Herein, the active prismatic P joints are hydraulic actuators. To ensure the required accuracy of the trajectory tracking of the TPM end-effector, a control system to synchronize the position of the three hydraulic actuators was proposed. The suggested synchronization controller employs cross-coupled control (CCC), and guarantees the asymptotic convergence to zero of both hydraulic actuator position errors and synchronization errors. |
| doi_str_mv | 10.1063/1.5091876 |
| format | Conference Proceeding |
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The TPM consists of a base (fixed) platform and a moving platform connected by three serial chains. The closed kinematic loops of the TPM utilize 3-RRPRR serial chains with revolute R joints and prismatic P joints. Herein, the active prismatic P joints are hydraulic actuators. To ensure the required accuracy of the trajectory tracking of the TPM end-effector, a control system to synchronize the position of the three hydraulic actuators was proposed. The suggested synchronization controller employs cross-coupled control (CCC), and guarantees the asymptotic convergence to zero of both hydraulic actuator position errors and synchronization errors.</description><identifier>ISSN: 0094-243X</identifier><identifier>EISSN: 1551-7616</identifier><identifier>DOI: 10.1063/1.5091876</identifier><identifier>CODEN: APCPCS</identifier><language>eng</language><publisher>Melville: American Institute of Physics</publisher><subject>Actuator position ; Chains ; Hydraulics ; Kinematics ; Manipulators ; Parallel degrees of freedom ; Position errors ; Synchronism</subject><ispartof>AIP conference proceedings, 2019, Vol.2077 (1)</ispartof><rights>Author(s)</rights><rights>2019 Author(s). 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The TPM consists of a base (fixed) platform and a moving platform connected by three serial chains. The closed kinematic loops of the TPM utilize 3-RRPRR serial chains with revolute R joints and prismatic P joints. Herein, the active prismatic P joints are hydraulic actuators. To ensure the required accuracy of the trajectory tracking of the TPM end-effector, a control system to synchronize the position of the three hydraulic actuators was proposed. The suggested synchronization controller employs cross-coupled control (CCC), and guarantees the asymptotic convergence to zero of both hydraulic actuator position errors and synchronization errors.</description><subject>Actuator position</subject><subject>Chains</subject><subject>Hydraulics</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Parallel degrees of freedom</subject><subject>Position errors</subject><subject>Synchronism</subject><issn>0094-243X</issn><issn>1551-7616</issn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2019</creationdate><recordtype>conference_proceeding</recordtype><recordid>eNp9kE9LwzAAxYMoOKcHv0HAm9CZ_2mOsjkVB14UvIU0TbQja2uSCv32Vjfw5unB4_cejwfAJUYLjAS9wQuOFC6lOAIzzDkupMDiGMwQUqwgjL6dgrOUtggRJWU5A08rl5r3FnYeGvgx1tEMobEmhBEamweTXQ1pserWMEfTpmBy07UmwN7ECXIB7kzb9MPkd_EcnHgTkrs46By8ru9elg_F5vn-cXm7KSwlZS4qrCzyVtSsVh5LIz0RFmPqFLWyrBnjjPiKV5JIVQnKKmn8ZFgquaNeOToHV_vePnafg0tZb7shTquSJrhkpOSUoom63lPJNvl3tu5jszNx1F9d1FgfjtJ97f-DMdI_z_4F6DcS7Wqx</recordid><startdate>20190221</startdate><enddate>20190221</enddate><creator>Dindorf, Ryszard</creator><creator>Wos, Piotr</creator><general>American Institute of Physics</general><scope>8FD</scope><scope>H8D</scope><scope>L7M</scope></search><sort><creationdate>20190221</creationdate><title>Design of a hydraulically actuated 3-DoF translational parallel manipulator</title><author>Dindorf, Ryszard ; Wos, Piotr</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c328t-b19c0fc6d4d9f17a7f26c113e93c78d44542fb5b7279b634b7af2fbc375e3f9e3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Actuator position</topic><topic>Chains</topic><topic>Hydraulics</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Parallel degrees of freedom</topic><topic>Position errors</topic><topic>Synchronism</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Dindorf, Ryszard</creatorcontrib><creatorcontrib>Wos, Piotr</creatorcontrib><collection>Technology Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Dindorf, Ryszard</au><au>Wos, Piotr</au><au>Piatkowski, Tomasz</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design of a hydraulically actuated 3-DoF translational parallel manipulator</atitle><btitle>AIP conference proceedings</btitle><date>2019-02-21</date><risdate>2019</risdate><volume>2077</volume><issue>1</issue><issn>0094-243X</issn><eissn>1551-7616</eissn><coden>APCPCS</coden><abstract>The paper presents the design solution, kinematic structure, simulation and experimental control tests of a hydraulically actuated three degree of freedom (3-DoF) translational parallel manipulator (TPM). 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| fulltext | fulltext |
| identifier | ISSN: 0094-243X |
| ispartof | AIP conference proceedings, 2019, Vol.2077 (1) |
| issn | 0094-243X 1551-7616 |
| language | eng |
| recordid | cdi_proquest_journals_2184285330 |
| source | AIP Journals Complete |
| subjects | Actuator position Chains Hydraulics Kinematics Manipulators Parallel degrees of freedom Position errors Synchronism |
| title | Design of a hydraulically actuated 3-DoF translational parallel manipulator |
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