Abstract
Based on the application background of high-speed parallel robot widely used in industrial production, a 3-degree freedom pneumatic parallel translation robot platform is designed. In order to meet the requirements of translational motion of pneumatic parallel robot, the driving arm mechanism was designed to drive the robot motion, and the auxiliary arm mechanism was designed to constrain the rotational freedom of the robot. MATLAB and ADAMS are used to simulate the kinematics of pneumatic parallel robot. Aiming at the nonlinear and uncertain external disturbances of the pneumatic parallel robot platform system, the linear active disturbance rejection control algorithm is used to control the robot motion. This platform can be used for experimental teaching to cultivate students' ability of analysis, synthesis, design, exploration and innovation, and improve their engineering literacy.
| Translated title of the contribution | Design of three-degree freedom pneumatic parallel translational robot platform |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 109-112 |
| Number of pages | 4 |
| Journal | Experimental Technology and Management |
| Volume | 38 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jan 2021 |
| Externally published | Yes |