Methods of Manipulators Controlling Based on a Tripod When Performing Technological Operations

Parallel-serial (hybrid) structure manipulators are widely used in various sectors of the economy, which makes it possible to take into account the disadvantages and combine the advantages of manipulation systems of parallel and serial structures. Studies of technological processes have shown that they can be performed using manipulators of a parallel-serial structure based on a tripod, the features of which are not fully understood. Whereas it is important to choose a control system and control algorithms that depend on the characteristics of technological operations performed. Manipulator controlling is a complex task that includes positioning of the effector, planning and synthesis of trajectories, setting and moving the effector along a given trajectory. Each technological process can be described by a set of special trajectories, which can be entered in advance into the database of control models. The article formalizes the trajectories of the effector on the example of specific technological operations. Using the techniques of kinematic and dynamic synthesis, analytical algorithms for its movement along these trajectories have been developed. Theoretical studies were tested on the experimental sample of a hybrid structure manipulator with SKF CAHB-21 actuators. The experiments showed that positioning errors did not exceed 2%, and the deviation of the actual movements from the specified ones in the presence of a payload on the gripper did not exceed 5 %.

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