SYNTHESIS AND CONTROL 3-DOF PLANAR PARTLY DECOUPLED PARALLEL MANIPULATOR

Author(s): 

Vo Dinh Tung*

Affiliation(s): 

Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH), Ho Chi Minh City, Vietnam

*Corresponding Author Email: vd.tung@hutech.edu.vn

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper deals with a new planar parallel manipulator, kinetic energy of this mechanism, designing controller. The translation movements are decoupled from rotation. The control algorithm of parallel robot satisfying partial decoupling between translation and orientation degrees of freedom is synthesized. Simulation result of control algorithm in desired trajectory of end-effector of robot is shown. Here parallel manipulator control algorithm while intersecting singular zones is considered.