Dynamic Characterization and Control of a Multipurpose 3-DOF Asymmetric Parallel Mechanism

Vitor Neves Hartmann¹; Décio Rinaldi¹; Tarcísio Antônio Hess-Coelho¹

¹ Escola Politécnica da USP

doi:10.20906/CPS/COB-2015-0259

Resumo

Parallel kinematic machines have been studied for more than 15 years, with improvements in both structure and control of the mechanism. However, most of its applications were directed to specific tasks of health and industry areas, mainly focusing on workspaces with symmetric dynamic characteristics. There are operations that do not require this condition, namely some pick and place facilities and rehabilitation techniques. A new type of parallel architecture was built within these conditions, and other portability and interchangeability assumptions were made. The prototype's parts are described, and its dynamic properties are briefly compared. Its control is discussed, even though it was not fully implemented, and further studies are being held in order to allow hybrid operation. Position control or force control can be switched, as well as the selection of the number of terms of motion. Control equations are kept in a separate block, independent of data transmission and configuration variables, thus making it possible to change the control law without affecting the rest of the actual assembly, or even allowing the use of different control laws.

Palavras-chave: mechanisms; parallel robots; dynamic control