Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking
Abstract
:1. Introduction
2. Test Rig Layout
3. Analysis of Kinematics
3.1. Inverse Position Kinematics
3.2. Forward Position Kinematics
3.3. Velocity Analysis
4. Controller Design
4.1. Fuzzy-PID Controller Design
4.2. NNPC Design
5. Experiments
5.1. Experiment 1-Star Loop Motion Trajectory (a Two-Dimensional Motion)
5.2. Experiment 2—Helical Circular Motion Trajectory
6. Conclusions
7. Patents
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Parameters | Description | Value |
---|---|---|
The length between and | 60 mm | |
The length of kinematic chain | 670 mm | |
The maximum of the actuated joint variables (the maximum stroke) | 500 mm |
NB | NM | NS | ZO | PS | PM | PB | ||
---|---|---|---|---|---|---|---|---|
NB | PB | PB | PM | PM | PS | ZO | ZO | |
NM | PB | PB | PM | PS | PS | ZO | NS | |
NS | PM | PM | PM | PS | ZO | NS | NS | |
ZO | PM | PM | PS | ZO | NS | NM | NM | |
PS | PS | PS | ZO | NS | NS | NM | NM | |
PM | PS | ZO | NS | NM | NM | NM | NB | |
PB | ZO | ZO | NM | NM | NM | NB | NB |
NB | NM | NS | ZO | PS | PM | PB | ||
---|---|---|---|---|---|---|---|---|
NB | NB | NB | NM | NM | NS | ZO | ZO | |
NM | NB | NB | NM | NS | NS | ZO | ZO | |
NS | NB | NM | NS | NS | ZO | PS | PS | |
ZO | NM | NM | NS | ZO | PS | PM | PM | |
PS | NM | NS | ZO | NS | PS | PM | PB | |
PM | ZO | ZO | PS | PS | PM | PB | PB | |
PB | ZO | ZO | PS | PM | PM | PB | PB |
NB | NM | NS | ZO | PS | PM | PB | ||
---|---|---|---|---|---|---|---|---|
NB | PS | NS | NB | NB | NB | NB | PS | |
NM | PS | NS | NB | NM | NM | NS | ZO | |
NS | ZO | NS | NM | NM | NS | NS | ZO | |
ZO | ZO | NS | NS | NS | NS | NS | ZO | |
PS | ZO | ZO | ZO | ZO | ZO | ZO | ZO | |
PM | PB | NS | PS | PS | PS | PS | PB | |
PB | PB | PM | PM | PM | PS | PS | PB |
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Li, I.-H.; Chiang, H.-H.; Lee, L.-W. Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking. Appl. Sci. 2020, 10, 3526. https://doi.org/10.3390/app10103526
Li I-H, Chiang H-H, Lee L-W. Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking. Applied Sciences. 2020; 10(10):3526. https://doi.org/10.3390/app10103526
Chicago/Turabian StyleLi, I-Hsum, Hsin-Han Chiang, and Lian-Wang Lee. 2020. "Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking" Applied Sciences 10, no. 10: 3526. https://doi.org/10.3390/app10103526