Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Design And Control Of A 2-DOF Parallel Mechanism
Submission Author:
Isabella Stevani , SP
Co-Authors:
André Garnier Coutinho, Victor Bartholomeu, Isabella Stevani, Juliana Martins de Oliveira Fuess, Tarcisio Antonio Hess Coelho, Diego Colón
Presenter: André Garnier Coutinho
doi://10.26678/ABCM.COBEM2019.COB2019-0373
Abstract
The study of robotic mechanisms with parallel architecture has been increasing in recent years due their lower inertia, higher accuracy and precision and greater rigidity in comparison to serial ones. However, the complexity of obtaining a dynamic model restricts the feasibility of implementing model-based control methods such as the computed torque. In this paper, a systematic method for dynamic modeling of closed-chain robots is applied to a 2-DOF parallel mechanism. Essentially, the method couples the dynamic models of each serial subsystem that composes the parallel mechanism through mechanical constraints obtained from the robot kinematics. In addition, a construction approach focused on reducing movement direction clearances is performed by placing all joints in the direction the mechanism is not expected to move. For testing and validation, simulation and experimental results are obtained and compared by applying a model-based control law, such as computed torque, and a non-model-based law, such as a simple PD with feed-forward. As expected, the model-based control showed lower regime errors than the PD at the cost of a small increase in energy expenditure.
Keywords
Parallel Mechanism, Robotics, dynamic modeling, robot construction, Nonlinear control
