Flag Counter
AKILLI SİSTEMLER VE UYGULAMALARI DERGİSİ
JOURNAL OF INTELLIGENT SYSTEMS WITH APPLICATIONS
J. Intell. Syst. Appl.
E-ISSN: 2667-6893
Creative Commons License This work is licensed under a Creative Commons Attribution 4.0 International License.

Control of mobile parallel manipulator

Mobil paralel manipulatör kontrolü

How to cite: Yıldız B, Çetin L, Gezgin E. Control of mobile parallel manipulator. Akıllı Sistemler ve Uygulamaları Dergisi (Journal of Intelligent Systems with Applications) 2023; 6(2): 10-20. DOI: 10.54856/jiswa.202312234

Full Text: PDF, in English.

Total number of downloads: 49

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


Bibliography:
  • Tsai LW. Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators.1999; John Wiley and Sons, Inc., USA.
  • Tsai LW. Systematic Enumeration of Parallel Manipulators. In: Boër, C.R., Molinari-Tosatti, L., Smith, K.S. (eds) Parallel Kinematic Machines. Advanced Manufacturing. 1999, Springer, London, pp. 33-49.
  • Gough E. Contribution to Discussion of Papers on Research in Automobile Stability, Control and Tyre Performance. In Proceedings of the Institution of Mechanical Engineers: Automobile Division, pp. 392–394, 1956.
  • Guzin D, Gezgin E. Development of a robot manipulator design for brain surgery. Journal of Intelligent Systems with Applications 2020; 3(1): 48-51.
  • Ozbek S, Gezgin E, Yazici MV. Design of soft fingers for a surgical robotic hand with hybrid structure. Journal of Intelligent Systems with Applications 2021; 4(1): 38-41.
  • Stewart D. A platform with six degrees of freedom. Proc. Inst. Mech. Eng. 1965; 180(1): 371–386.
  • Can FC, Alizade R. Analysis and Synthesis of Parallel Manipulators. PhD Dissertation, 2008, Izmir Institute of Technology, Turkey.
  • Dudek G, Jenkin M. Differential Drive Kinematics. Computational Principles of Mobile Robotics, 2nd. ed., Cambridge University Press, USA, 2010, pp.39-47.
  • Li Y, Xu Q, Yugang Liu. Novel design and modeling of a mobile parallel manipulator. In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., Orlando, FL, USA, 2006, pp. 1135-1140.
  • Tsai M, Shiau TN, Tsai Y, Chang TH. Direct kinematic analysis of a 3-PRS parallel mechanism. Mechanism and Machine Theory 2003; 38(1): 71-83.
  • Tetik H. Modelling and control of a 3-RRS parallel manipulator, 2016, Izmir Institute of Technology, Turkey.
  • Hirpo BD, Zhongmin W. Design and Control for Differential Drive Mobile Robot. International Journal of Engineering Research and Technology 2017; 06(10): 327-334.