A Design of a 2 DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive—Part 2

Jakub Takosoglu; Urszula Janus-Galkiewicz; Jaroslaw Galkiewicz

doi:10.3390/en16072970

Energies (Mar 2023)

A Design of a 2 DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive—Part 2

Jakub Takosoglu,
Urszula Janus-Galkiewicz,
Jaroslaw Galkiewicz

Affiliations

Jakub Takosoglu: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland
Urszula Janus-Galkiewicz: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland
Jaroslaw Galkiewicz: Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Aleja Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland

DOI: https://doi.org/10.3390/en16072970
Journal volume & issue: Vol. 16, no. 7
p. 2970

Abstract

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This paper is the second part of the study of a planar manipulator and this section presents the construction of a prototype manipulator. A fuzzy control system for the manipulator is described in detail. An experimental study was carried out on the positioning of the end effector of the manipulator and a program written in the Delphi 6 environment was proposed to calculate the position. Prototype tests were performed for transpose and follow-up control. Based on the experimental results, a control quality analysis was carried out.

Published in Energies

ISSN: 1996-1073 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology
Website: http://www.mdpi.com/journal/energies

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