Design and haptic control of three degrees of fredom triglide parallel robot

In this study, a new 3D design was made in the Solidworks program for the threedegree-of-freedom Triglide parallel robot. The manufacturing of the designed robot has been realized. Robot dynamics were obtained by Lagrange method using robot kinematics equations. On the controllability of the robot using the robot dynamics, PID, Sliding Mode Control, Artificial Neural Networks and Fuzzy Logic methods have been studied. When control methods are applied, appropriate control coefficients are determined by genetic algorithm. Position control of the robot has been provided about 0.2-0.3 seconds. Thus, in the real-time application, it is thought that there will not be a troublesome situation in terms of control of the robot. For the real time operation of the robot, the hardware to be used in the experiment setup was decided and the necessary assembly and wiring were done. Triglide parallel robot has been controlled in real time with PID and Sliding Mode Control methods. When the sign function is used in the Sliding Mode Control method, vibration and noise are generated in the system. For this reason, the system has been relieved by using the saturation function. It has been determined that the system goes to the desired reference values for about 0.6 sec in the control applications. Finally, an interaction with the robot was performed using the Haptic Omni device from Sensable. In the first application, Haptik Omni device and remote position control of the robot have been provided. In this operation, the Haptic device is used as a master and the Triglide robot is used as a slave. Teleoperation has been successfully carried out. In the second application, in addition to the position control, force feedback was obtained on the Haptic device with the help of the force sensor placed on the end effector of the robot . In the third application, the force in the end effector of the robot has been controlled. It was obtained from graphical results that the end effector of the robot achieved the desired reference values for the three different forces.