In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using Genetic Algorithms. It is concluded that the optimal design method is useful for the design of a six degree of freedom micro parallel robot.
Mechatronics consists in integration of three fields in engineering: mechanics, electronics and information technology. The paradigm of mechatronics is the integration concept, being the first step in the design of complex mechatronic systems. The need for an integrated approach to the design of complex engineering system involving electronic engineering, mechanical engineering and computing has led to the growth of the concept of mechatronics. The paper presents details regarding the integration process for the kinematic axis in mechatronic. The example of the positioning system based on dc motor and screw-nut transmission is analysed. This actuator is further used for driving a 2 DOF PRRRP parallel robot.
Piezoelectric elements can produce a high displacement resolution with high force outputs but exhibits large hysteresis nonlinearities. An efficient way to compensate for nonlinearities is using a closed loop control technique. Another limitation for many applications is their relatively short displacement ranges. One method to avoid the above-mentioned shortcoming is to integrate a piezoelectric element with a mechanical displacement amplifier based on a compliant mechanism. This paper presents the design and closed-loop control of such a piezoelectric actuator. Using the integrated strain gauge sensors, a PI controller was designed and tested.
The pneumatic actuation is widely used in robotics. The actuators based on pneumatic artificial muscles are unconventional actuation systems which use the shortening by increase of the volume property which generate an axial force. They have a very good force/volume ratio and some advantages compared with conventional pneumatic actuation. This paper presents the mechatronic design of a PRRRP Biglide planar parallel robot actuated by four artificial muscles in antagonist configuration. The control system is based on an 8-bit microcontroller based development board and the position and force control is made by means of pressure regulation using proportional pressure regulators. It was determined the workspace of PRRRP Biglide parallel robot for different strokes of actuators using discretisation method in Matlab environment.
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