Journal of Mechanical Science and Technology

, Volume 33, Issue 11, pp 5437–5448 | Cite as

Control of integrated electro-hydraulic servo-drives in a translational parallel manipulator

  • Ryszard DindorfEmail author
  • Piotr Wos


This paper deals with the kinematics, dynamics and control of an innovative application of a three degrees of freedom (3-DoF) translational parallel manipulator (TPM) with three independently controlled integrated electro-hydraulic servo-drives (IEHSDs) for the handling of heavy forgings during precision machining. With high payload of the TPM moving platform, IEHSD force and position control was analyzed using adaptive controllers. The main contribution of this study is the IEHSD control architecture, which enables highly accurate synchronization of their position confirmed experimentally during TPM trajectory tracking control. For this purpose, a synchronization controller of three IEHSDs utilizing cross-coupled control (CCC) was proposed. The synchronizing controller ensures precise control of the TPM under conditions of variable heavy technological load.


Electro-hydraulic axis Integrated electro-hydraulic servo-drives Translational parallel manipulator Synchronization control Force/position control 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    L.-W. Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, New York (1999).Google Scholar
  2. [2]
    J.-P. Merlet, Parallel Robots, Solid Mechanics and Its Applications, Springer Verlag, New York (2006).Google Scholar
  3. [3]
    Y. D. Patel and P. M. George, Parallel manipulators applications — A survey, Modern Mechanical Engineering, 2(3) (2012) 57–64.Google Scholar
  4. [4]
    V. Rezania and S. Ebrahim, Dexterity characterization of the RPR parallel manipulator based on the local and global condition indices, J. of Mechanical Science and Technology, 31(1) (2017) 335–344.Google Scholar
  5. [5]
    L. Wand, Z. Zhang and Z. Shao, Kinematic performance analysis and promotion of a spatial 3-RPaS parallel manipulator with multiple actuation modes, J. of Mechanical Science and Technology, 33(2) (2019) 889–902.Google Scholar
  6. [6]
    Y. Lu, Y. Lu, Y. Liu, B. Hu and Y. Gong, Dynamics analysis of novel parallel manipulator with one central rotational actuator and four translational actuators, J. of Mechanical Science and Technology, 33(6) (2019) 2893–2902.Google Scholar
  7. [7]
    H. Guo, Y. Liu, G. Liu and H. Li, Cascade control of a hydraulically driven 6-DoF parallel robot manipulator based on a sliding mode, Control Engineering Practice, 16(9) (2008) 1055–1068.Google Scholar
  8. [8]
    C. Yang, Q. Huang, H. Jiang, O. Peter and J. Han, PD control with gravity compensation for hydraulic 6-DoF parallel manipulator, Mechanism and Machine Theory, 45(4) (2010) 666–677.zbMATHGoogle Scholar
  9. [9]
    Y. Pi and X Wang, Observer-based cascade control of a 6-DoF parallel hydraulic manipulator in joint space coordinate, Mechatronics, 20(6) (2010) 648–655.Google Scholar
  10. [10]
    Y. Pi, X. Wang and X. Gu, Synchronous tracking control of 6-DoF hydraulic parallel manipulator using cascade control method, J. of Central South University, 18(5) (2011) 1554–1562.Google Scholar
  11. [11]
    Y. Pi and X. Wang, Trajectory tracking control of a 6-DoF hydraulic parallel robot manipulator with uncertain load disturbances, Control Engineering Practice, 19(2) (2011) 185–193.Google Scholar
  12. [12]
    I. Davliakos and E. Papadopoulos, Model-based control of a 6-DoF electro-hydraulic Stewart-Gough platform, Mechanism and Machine Theory, 43(11) (2011) 1385–1400.zbMATHGoogle Scholar
  13. [13]
    B. Zhang, J. Li, Z. Jiang, C. Wang and Z. Zhang, Kinematics analysis of a 3-DoF hydraulic driven parallel mechanism, IOP Conf. Series: Materials Science and Engineering, 324 (2018) 12–48.Google Scholar
  14. [14]
    T. K. Bera, A. K. Samantaray and R. Karmakar, Robust overwhelming control of a hydraulically driven three-degrees-of-freedom parallel manipulator through a simplified fast inverse model, Proc. IMechE J. Systems and Control Engineering, 224(4) (2010) 169–184.Google Scholar
  15. [15]
    J. Chin, Y. Sun and Y. Cheng, Force computation and continuous path tracking for hydraulic parallel manipulators, Control Engineering Practice, 16(6) (2008) 697–709.Google Scholar
  16. [16]
    R. Dindorf and P. Wos, Contour error of the 3-DoF hydraulic translational parallel manipulator, Advanced Materials Research, 874 (2014) 57–62.Google Scholar
  17. [17]
    P. Wos and R. Dindorf, Synchronized trajectory tracking control of 3-DoF hydraulic translational parallel manipulator, mechatronics, Ideas for industrial applications, Awrejcewicz et al. (edited), Book Series: Advances in Intelligent Systems and Computing, 317 (2015) 269–277.Google Scholar
  18. [18]
    R. Dindorf and P. Wos, Design of a hydraulically actuated 3-DoF translational parallel manipulator, AIP Conference Proceedings, 2077(1) (2019) 1–12.Google Scholar
  19. [19]
    B. K. Sarkar, Modeling and validation of a 2-DoF parallel manipulator for pose control application, Robotics and Computer — Integrated Manufacturing, 50 (2018) 234–241.Google Scholar
  20. [20]
    M. Taghizadeh and M. J. Yarmohammadi, Development of a self-tuning PID controller on hydraulically actuated Stewart Platform stabilizer with base excitation, International J. of Control, Automation and Systems, 16(6) (2018) 2990–2999.Google Scholar
  21. [21]
    C. Zhao, C. Yu and J. Yao, Dynamic decoupling based robust synchronous control for a hydraulic parallel manipulator, IEEE Access, 7 (2019) 30548–30562.Google Scholar
  22. [22]
    C. Gao, D. Cong, X. Liu, Z. Yang and H. Tao, Hybrid position/force control of 6-DoF hydraulic parallel manipulator using force and vision, Industrial Robot, 43(3) (2016) 274–283.Google Scholar
  23. [23]
    G. Goglu, Structural Synthesis of Parallel Robots: Part 1: Methodology, Springer Verlag (2008).Google Scholar
  24. [24]
    S. Staicu and C. Popa, Kinematics of the spatial 3-UPU parallel robot, UPB Scientific Bulletin, Series D: Mechanical Engineering, 75(3) (2013) 9–18.Google Scholar
  25. [25]
    P. Binbin, L. Zengming, W. Kai and S. Yu, Kinematic characteristics of 3-UPU parallel manipulator in singularity and its application, International J. of Advanced Robotic Systems, 8(4) (2011) 54–64.Google Scholar
  26. [26]
    P. Wos and R. Dindorf, Adaptive control of the electrohydraulic servo-system with external disturbances, Asian J. of Control, 15(4) (2013) 1065–1080.zbMATHGoogle Scholar
  27. [27]
    S. K. Mishra, G. Wrat, P. Ranjan and J. Das, PID controller with feed forward estimation used for fault tolerant control of hydraulic system, J. of Mechanical Science and Technology, 32(8) (2018) 3849–3855.Google Scholar
  28. [28]
    P. Wos and R. Dindorf, Self-tuning controllers based on polynomial methods for electro-hydraulic servo drive, AIP Conference Proceedings, 2077(1) (2019) 1–12.Google Scholar
  29. [29]
    D. Sun, Position synchronization of multiple motion axes with adaptive coupling control, Automatica, 39(6) (2003) 997–1005.MathSciNetzbMATHGoogle Scholar
  30. [30]
    D. Sun, R. Lu, J. K. Mills and C. Wang, Synchronous tracking control of parallel manipulators using cross-coupling approach, International J. of Robotics Research, 25(11) (2011) 1137–1147.Google Scholar

Copyright information

© KSME & Springer 2019

Authors and Affiliations

  1. 1.Faculty of Mechatronics and Mechanical EngineeringKielce University of TechnologyKielcePoland

Personalised recommendations