Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Construction and Control PID of Delta Parallel Robot
Submission Author:
Alexander Sena , PB
Co-Authors:
Anderson SILVA, Asafe Silva, Alexander Sena
Presenter: Anderson SILVA
doi://10.26678/ABCM.COBEM2017.COB17-2813
Abstract
This present paper proposes the construction and the PID position control of a prototype with parallel kinematic structure, robot type delta linear with three degrees of freedom. The physical structure was built on recycled materials, open-source architecture controller and software, and low-cost actuators. The set is driven by current motors with PWM technique, interfaced by power driver circuits, which receive control signals from a microcontroller embedded system. It was studied a mathematical model to associate the coordinates of the moving cars and the final effector. A PID controller has been tested and validated for linear drive cars with good positioning results. The Ziegler-Nichols tuning method was used to implement the controller. The robotic system went through phases of development and experimental testing of its mechanical system, interface circuits, embedded system and programming. For this, a supervisory program was created that allowed visualization of the outputs and inputs through graphs plotted in real time, besides allowing the adjustment of the constants also in real time.
Keywords
Prototype, PID controller, Parallel robot, mathematical modeling, Delta robot
