Kinematics, dynamics and control of a 3 degree of freedom parallel robot
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Abstract (EN)
In this study, the researches are studied on a 3 degree of freedom parallel robot. First, inverse and forward kinematics solutions of triglide (linear delta) parallel robot have been analytically obtained. Solid modelling of triglide parallel robot has been done in Solidworks programme. The obtained inverse and forward kinematics solutions have been tested by using this solid modelling and workspace of triglide parallel robot has been created. Equations of motion of the robot have been obtained by using Lagrange method. Simulink model of system has been built up by using these equations of motion. x, y and z coordinates of 3 degree of freedom triglide parallel robot have been controlled by using PID control method.
Author
Muhammet Aydın
How to Cite
Muhammet Aydın (Master Thesis). Kinematics, dynamics and control of a 3 degree of freedom parallel robot, 2012, Fırat University.
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