An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator
The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg) manip...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
VSB-Technical University of Ostrava
2014-12-01
|
| Series: | Transactions of the VŠB-Technical University of Ostrava, Mechanical Series |
| Subjects: | |
| Online Access: | http://transactions.fs.vsb.cz/2014-2/1988.pdf |
| _version_ | 1818548966218792960 |
|---|---|
| author | Pawel A. LASKI Slawomir BLASIAK E. TAKOSOGLU |
| author_facet | Pawel A. LASKI Slawomir BLASIAK E. TAKOSOGLU |
| author_sort | Pawel A. LASKI |
| collection | DOAJ |
| description | The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg) manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System) muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System) type system drives and tuning controller settings using the Ziegler-Nichols method. |
| first_indexed | 2024-12-12T08:27:17Z |
| format | Article |
| id | doaj.art-f6dbd4b13aa6475ab08df856c0340365 |
| institution | Directory Open Access Journal |
| issn | 1210-0471 1804-0993 |
| language | English |
| last_indexed | 2024-12-12T08:27:17Z |
| publishDate | 2014-12-01 |
| publisher | VSB-Technical University of Ostrava |
| record_format | Article |
| series | Transactions of the VŠB-Technical University of Ostrava, Mechanical Series |
| spelling | doaj.art-f6dbd4b13aa6475ab08df856c03403652022-12-22T00:31:13ZengVSB-Technical University of OstravaTransactions of the VŠB-Technical University of Ostrava, Mechanical Series1210-04711804-09932014-12-01602435010.22223/tr.2014-2/1988An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic ManipulatorPawel A. LASKI0Slawomir BLASIAK1E. TAKOSOGLU2Faculty of Mechatronics and Mechanical Engineering, Kielce University of TechnologyFaculty of Mechatronics and Mechanical Engineering, Kielce University of TechnologyFaculty of Mechatronics and Mechanical Engineering, Kielce University of TechnologyThe main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg) manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System) muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System) type system drives and tuning controller settings using the Ziegler-Nichols method.http://transactions.fs.vsb.cz/2014-2/1988.pdfparallel manipulatorpneumatic musclenotation Denavit-HartenbergBi-Muscular Driving System |
| spellingShingle | Pawel A. LASKI Slawomir BLASIAK E. TAKOSOGLU An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator Transactions of the VŠB-Technical University of Ostrava, Mechanical Series parallel manipulator pneumatic muscle notation Denavit-Hartenberg Bi-Muscular Driving System |
| title | An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator |
| title_full | An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator |
| title_fullStr | An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator |
| title_full_unstemmed | An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator |
| title_short | An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator |
| title_sort | application of a pneumatic muscles actuator for a delta pneumatic manipulator |
| topic | parallel manipulator pneumatic muscle notation Denavit-Hartenberg Bi-Muscular Driving System |
| url | http://transactions.fs.vsb.cz/2014-2/1988.pdf |
| work_keys_str_mv | AT pawelalaski anapplicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator AT slawomirblasiak anapplicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator AT etakosoglu anapplicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator AT pawelalaski applicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator AT slawomirblasiak applicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator AT etakosoglu applicationofapneumaticmusclesactuatorforadeltapneumaticmanipulator |