Abstract
This work focuses on the dynamic modelling and motion control scheme of a parallel manipulator which has three legs of prismatic-revolute-revolute-revolute joint setup. In each of the legs, the prismatic (P)-joint is active and the rotary (R)-joints are passive. The three legs further join into an end-effector in a right-angled triangle shape. The Euler-Lagrangian approach is followed to achieve the dynamics of the manipulator. The formulations are detailed and simulated. This paper also presents an augmented proportional-derivative (PD) controller along with gravity compensation for the motion control. This control method transforms the closed-loop dynamics of the manipulator into decoupled, and thus it becomes easier to quantify the motion performance. The trajectory tracking performance and its accompanying errors are also discussed.
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Acknowledgements
This research is partly assisted by the Russian Science Foundation (RSF), Russia, the agreement number 19-19-00692 and partly assisted by the Council of Scientific and Industrial Research (CSIR), India, the project number 22(0829)/19/EMR-II.
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Sunilkumar, P., Choudhury, R., Mohan, S., Rybak, L. (2020). Dynamics and Motion Control of a Three Degree of Freedom 3-PRRR Parallel Manipulator. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_13
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DOI: https://doi.org/10.1007/978-3-030-55061-5_13
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