A Design of a 2-DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive

Jakub Takosoglu (), Urszula Janus-Galkiewicz and Jarosław Galkiewicz
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Jakub Takosoglu: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland
Urszula Janus-Galkiewicz: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland
Jarosław Galkiewicz: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland

Energies, 2022, vol. 15, issue 22, 1-16

Abstract: This paper presents the design of a planar parallel manipulator with a pneumatic drive. Such manipulators are used in production lines for sorting, selecting, packing, and palletizing workpieces. This paper presents simulation studies of the designed manipulator in Matlab/Simulink software and using the SimMechanics library. A simple kinematics problem and an inverse kinematics problem were solved in order to carry out simulation studies of the designed manipulator. Simulation studies were also carried out on the dynamics of the manipulator using a mathematical model describing the physical phenomena occurring during the operation of the manipulator’s electro-pneumatic servo-drives. The main objective of the simulation study was to determine the manipulator working space and the possibility of positional control of the manipulator end-effector using a fuzzy logic controller.

Keywords: planar parallel manipulator; fuzzy logic controller; pneumatic positioning system; electro-pneumatic servo-drive (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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