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
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;
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
