Design and Control System of Parallel Kinematic Manipulator

Abstract:

This paper presents parallel kinematic manipulator design. A manipulator with three axis and parallelogram mechanism was made using aluminium profile rods. This mechanism was controlled by PC with the use of stepper motors. Kinematics analysis was conducted and its findings were used to make a special software to generate G-code control file. X and y mouse cursor indications with given z value were used as data showing the position of the effector to establish the movement of the arms of the presented manipulator. Step2CNC software was used to control the manipulator. Tests have confirmed the correctness of the study.

• Periodical: Applied Mechanics and Materials (Volume 436)
• Pages: 390-397
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.436.390
• Online since: October 2013
• Authors: Tadeusz Mikolajczyk, Dariusz Dorsz, Łukasz Romanowski
• Keywords: Control System, Manipulator, Parallel Kinematics, Step Motor

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