Graphical interface development for the position control of a 3RRR planar parallel manipulator


Authors

DOI:

https://doi.org/10.22517/23447214.16451

Keywords:

Parallel manipulator, graphical interface, path.

Abstract

This paper presents the development of a graphical interface implemented in a 3-RRR planar parallel manipulator. The graphical interface allows the control, in open loop, of the position of the manipulator, allowing to locate in the plane the end actuator and define its pose. The graphical interface allows the visualization of variables such as angular position, torque, voltage of the servomotors that drive the input links. The theoretical and real comparison of the angular displacement and the torque in the motors during the chosen path is shown, obtaining very close results between both.

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Author Biographies

Luis Carlos Burbano Castillo, Universidad Tecnológica de Pereira

Estudiante Maestría en Sistemas Automáticos de Producción

Giancarlo Daraviña Peña, Universidad Tecnológica de Pereira

Profesor transitorio

Facultad de Ingeniería Mecánica

Estudiante Maestría en Ingeniería Mecánica

Héctor Fabio Quintero Riaza, Universidad Tecnológica de Pereira

Profesor Titular Facultad de Ingeniería Mecánica

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Published

2018-06-30

How to Cite

Burbano Castillo, L. C., Trullo Daza, R. P., Daraviña Peña, G., & Quintero Riaza, H. F. (2018). Graphical interface development for the position control of a 3RRR planar parallel manipulator. Scientia Et Technica, 23(2), 168–174. https://doi.org/10.22517/23447214.16451

Issue

Vol. 23 No. 2 (2018)

Section

Mecánica

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