On the Development of a Manipulator Type Parallelogram 3-DOF for the Optimization Trajectory

Víctor Hugo López Enríquez; Vignaud Granados Alejo; Roberto Martín Del Campo Vázquez; Francisco Javier Santander Bastida

doi:10.4028/www.scientific.net/KEM.572.417

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 572On the Development of a Manipulator Type...

On the Development of a Manipulator Type Parallelogram 3-DOF for the Optimization Trajectory

Abstract:

This article presents the main aspects of modeling, design and development of a manipulator type parallelogram 3-DOF for the control of path tracking with open architecture, this model allow easy maintenance and program modification. The design and manufacturing tasks was aided by CAD/CAE/CAM technology. The assembly and commissioning was carried out by the integration of the mechanical and electronic components. The integration and evaluation of the control algorithms during the prototype manipulation was obtained by the kinematic and dynamics models and Lagrange equations of motion. Finally, results of monitoring control paths are present through testing in the joint and cartesian spaces, the results showed the optimum performance of the manipulator under different parameters of control.

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Periodical:

Key Engineering Materials (Volume 572)

Pages:

417-420

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.572.417

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Online since:

September 2013

Authors:

Víctor Hugo López Enríquez, Vignaud Granados Alejo, Roberto Martín Del Campo Vázquez, Francisco Javier Santander Bastida

Keywords:

CAD/CAM/CAE, Control Algorithms, Dynamics Models, Kinematic and Dynamics Models, Manipulator Parallelogram, Path Tracking

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References

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