Title: Control of mobile parallel manipulator

Abstract: This research article is based on the development and kinematics analysis of a novel mobile Euclidean parallel manipulator. The mobile manipulators and parallel manipulators were investigated to improve the setbacks of each of these manipulators. The design of the new mobile Euclidean parallel manipulator type robot manipulator is an improved type of both mobile platforms and parallel manipulators. The design of the mobile manipulator is created by combining the Euclidean platform with a mobile differential drive manipulator. In order to allow the design of this type of hybrid manipulator, the kinematics of the mobile Euclidean platform manipulator and the kinematic analysis of the new manipulator design for non-holonomic differential mobile manipulators were performed in two standalone sections. Finally, a test case study is provided in a simulation environment to validate the numerical results of the novel manipulator.

Keywords: parallel manipulators, differential drives, autonomous robot, mobile parallel manipulator, hybrid robotic system

Başlık: Mobil paralel manipulatör kontrolü

Özet: Bu araştırma makalesi yeni bir mobil Öklid paralel manipülatörünün geliştirilmesine ve kinematik analizine dayanmaktadır. Mobil manipülatörler ve paralel manipülatörler, bu manipülatörlerin her birinin aksaklıklarını iyileştirmek için araştırıldı. Yeni mobil Öklid paralel manipülatör tipi robot manipülatörün tasarımı, hem mobil platformların hem de paralel manipülatörlerin geliştirilmiş bir türüdür. Mobil manipülatörün tasarımı, Öklid platformunun mobil diferansiyel tahrikli manipülatörle birleştirilmesiyle oluşturulmuştur. Hibrit manipülatörün tasarımına olanak sağlamak için, mobil Öklid platform manipülatörünün kinematiği ve holonomik olmayan diferansiyel mobil manipülatörler için yeni manipülatör tasarımının kinematik analizi iki bağımsız bölümde gerçekleştirildi. Son olarak, yeni manipülatörün sayısal sonuçlarını doğrulamak için simülasyon ortamında bir test çalışması yapılmıştır.

Anahtar kelimeler: paralel manipülatörler, diferansiyel tahrik, otonom robot, mobil paralel manipülatörler, hibrit robotik sistem

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