教師資料查詢 | 類別: 期刊論文 | 教師: 李宜勳 LI, I-HSUN (瀏覽個人網頁)

標題:Development of a Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking
學年108
學期2
出版(發表)日期2020/05/20
作品名稱Development of a Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking
作品名稱(其他語言)
著者I-Hsum Li; Hsin-Han Chiang; Lian-Wang Lee
單位
出版者
著錄名稱、卷期、頁數Applied Sciences 10(10), 3526
摘要This paper focuses on developing a pneumatic-driven and horizontal-structure linear delta
robot (PH-LDR) and increasing its trajectory tracking performance on the three-degrees-of-freedom
(3-DOF) space. With the investigation of inverse and forward kinematics, the parallel mechanism of
PH-LDR is designed by using three high-power and low-cost rod-less pneumatic actuators (PAs) to
track 3-DOF motion, and this has a horizontal structure to enlarge the workspace. Since the PH-LDR
features nonlinear coupling among its three axes and is disturbed by the three high-nonlinear rod-less
PAs, the tracking control performance is significantly decreased, subject to uncertain nonlinearity and
parametric uncertainty. Therefore, a fuzzy-PID controller is used to achieve highly accurate 3-DOF
trajectory tracking, and furthermore, this study exploits neural networks (NNs) to pre-compensate
the impacts arising from the compressibility of air and temperature change. The control system
for the PH-LDR also features an embedded controller that allows real-time control. Experimental
demonstration verifies the developed PH-LDR with the proposed controller, and the dynamic tracking
accuracy in 3-DOF trajectory can be achieved.
關鍵字3-DOF trajectory tracking;linear delta robot;rod-less pneumatic actuators;fuzzy-PID;fuzzy control;neural network (NN)
語言英文(美國)
ISSN2076-3417
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別瑞士
公開徵稿
出版型式,電子版
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