Mechatronic Design of a Parallel Robot for Milling

Maciej Petko; Grzegorz Karpiel

doi:10.4028/www.scientific.net/SSP.198.21

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HomeSolid State PhenomenaSolid State Phenomena Vol. 198Mechatronic Design of a Parallel Robot for Milling

Mechatronic Design of a Parallel Robot for Milling

Abstract:

The paper presents the process of development of a parallel manipulator for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR, fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. A controller is proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.

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Periodical:

Solid State Phenomena (Volume 198)

Pages:

21-26

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.198.21

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Online since:

March 2013

Authors:

Maciej Petko, Grzegorz Karpiel

Keywords:

CNC Machines, Control Algorithm Implementation, Controller Architectures, Parallel Robot, Robot Control

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