Pasila, Felix and Alimin, Roche and Natalius, Hans (2015) DESIGN OF 16 ACTUATORS FOR 3D MASSIVE PARALLEL ROBOTS (3D-MPRs). In: 2nd International Conference on Electrical Engineering, Computer Science and Informatics 2015, 20-08-2015 - 20-08-2015, Palembang - Indonesia.
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Abstract
In this paper, a novel sixteen parallel manipulator with discrete control system is developed. An efficient method such as Inverse Static Analysis is employed to determine the state of each actuator on parallel manipulator when the position or force of manipulator is already known. The designing a parallel manipulator with actuators which are controlled discretely is a must because the mechanism will use artificial methods in dealing with the ISA problem. The research method used are simulation software and hardware testing with the case of parallel manipulator with 16 actuators. Simulations with typical desired force inputs are presented and a good performance of the mechanism is obtained. The results showed that the parallel manipulator has the Root Mean Squared Error (RMSE) has less than 5%.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Parallel Manipulator, 16 parallel actuators, Inverse Static Analysis. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering Department |
| Depositing User: | Admin |
| Date Deposited: | 11 Feb 2016 03:36 |
| Last Modified: | 17 Jul 2019 10:06 |
| URI: | https://repository.petra.ac.id/id/eprint/17377 |
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