The Motion Analysis and Control of a Three-Degree-of-Freedom Parallel Mechanism

Author

Shih, Ta-Ming ; Ni, Chih-Nan ; Chang, Chin-Lung ; Li, Ching-Chung

Author_Institution

Dept. of Weapon Syst. Eng., NDU

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

The purpose of this research is to study the motion analysis and control of a 3 degree of freedom parallel mechanism by confining the motion of a 6 degree of freedom platform. The pitch, roll and length of the upper moving platform are assumed be movable. The relationships between the limb length and moving platform are first derived and verified by numerical simulation, and then by using the Lagrange equation, the roll and pitch equations of motion are derived. Based on the advantages of linear and nonlinear control, P.I.D. (proportional integral derivative) and sliding mode control is added to control the mechanism. The limb lengths are varied to control the pitch and roll posture of moving platform and showed satisfactory results

Keywords

manipulator kinematics; motion control; nonlinear control systems; numerical analysis; three-term control; variable structure systems; Lagrange equation; degree-of-freedom parallel mechanism; kinematics analysis; linear control; motion control; nonlinear control; numerical simulation; pitch control; proportional integral derivative; roll equation; sliding mode control; Integral equations; Lagrangian functions; Motion analysis; Motion control; Nonlinear equations; Numerical simulation; PD control; Pi control; Proportional control; Sliding mode control; Sliding mode; kinematics analysis; parallel mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252752

Filename

4018868