Dynamic Analysis and Computer Aided Control of a Tripod Parallel Manipulator

摘要

In this paper, modeling, dynamic analysis and position control of a 3-PUU translational parallel manipulator (TPM) is investigated. After the general mechanical design of the manipulator all parts are drawn and modeled in SolidWorks, and a simulation of the motion in three dimensional space is made. For dynamic analysis relevant equations are derived from geometrical relations of the model and finally the forward and inverse kinematic solutions of the non-linear model are developed by using a MATLAB iteration algorithm. Furthermore the transfer functions of the position control system with a block diagram are derived and a control simulation with use of MATLAB Simulink is made. Simulation results are compared with real time system responses and satisfactory results are obtained.