Position Control of a 3-RRR Planar Parallel Manipulator with Non-Planar Links Using External Encoders

Abstract:

A Planar Parallel Manipulator (PPM) with non-planar links overcomes most of the shortcomings in conventional manipulators. Due to cantilever action, the links of a PPM develop bending stress. When the links are non-planar (having inclination with the horizontal plane), this cantilever action reduces and the same manipulator can have higher payload capacity. In this project, a planar 3-RRR manipulator with non-planar links is investigated for rectifying singularity at home configuration, and a novel method of position feedback of the motor is designed, fabricated and tested with rest of the motion control components.

• Periodical: Advanced Materials Research (Volumes 971-973)
• Pages: 1280-1283
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.971-973.1280
• Online since: June 2014
• Authors: Anjan Kumar Dash*, Sai Krishnamurthy, Shyam Prasadh, Vishanth Sundar
• Keywords: Encoder, Inverse Kinematics, Motion Control, Planar Parallel Manipulator, Singularity

References

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DOI: 10.1016/0094-114x(94)00071-r

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