• DocumentCode
    3567812
  • Title

    Parallel robotic manipulation via Pneumatic Artificial Muscles

  • Author

    Gryparis, Dimitris ; Andrikopoulos, George ; Manesis, Stamatis

  • Author_Institution
    Department of Electrical and Computer Engineering, University of patras, Eratosthenous str., Rio, Greece
  • Volume
    2
  • fYear
    2014
  • Firstpage
    29
  • Lastpage
    36
  • Abstract
    In this article, a 6 Degree-of-Freedom (DOF) parallel manipulator, actuated by Pneumatic Artificial Muscles (PAMs), is being presented. Incorporated in a two Stewart Platform-based design, the novel manipulator´s motion capabilities are being examined through kinematic analysis, while the open-loop operation characteristics and performance of the manipulator´s control via a multiple PID-based scheme are being experimentally evaluated.
  • Keywords
    Equations; Joints; Kinematics; Manipulators; Muscles; Pneumatic systems; PID Control; Parallel Manipulator; Pneumatic Artificial Muscles;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
  • Type

    conf

  • Filename
    7049581
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3567812