Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
NUMERICAL AND EXPERIMENTAL ANALYSIS OF A PARALLEL 2 DOF MANIPULATOR
Submission Author:
William Cardozo , RJ
Co-Authors:
William Cardozo, Hans Ingo Weber
Presenter: William Cardozo
doi://10.26678/ABCM.DINAME2017.DIN17-0015
Abstract
A parallel two degrees of freedom manipulator designed for a variable orientation of a body in space is analyzed. The manipulator consists of one universal joint with one axis fixed to the base and the other axis fixed to a moving platform. A similar device is used in spacecrafts to orient the rocket nozzle. In this work, two parallel linear hydraulic actuators move the platform. A novel proportional digital hydraulic valve is used to control the actuators. Each fork of the universal joint has an angular position sensor mounted to measure the relative motion of the cross. An inertial measurement unit (IMU) is fixed to the moving platform. Load cells and pressure transducers are mounted on the actuators to measure force and chambers pressure. Numerical simulations are presented using a desired trajectory as input for a proportional–integral controller (PI controller). An experimental apparatus is used to validate the numerical results.
Keywords
Kinematics, Electrohydraulic servosystem, Servoactuator, Universal joint, IMU
