Authors:
Dimitris Gryparis
;
George Andrikopoulos
and
Stamatis Manesis
Affiliation:
University of patras, Greece
Keyword(s):
Pneumatic Artificial Muscles, Parallel Manipulator, PID Control.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this article, a 6 Degree-of-Freedom (DOF) parallel manipulator, actuated by Pneumatic Artificial Muscles (PAMs), is being presented. Incorporated in a two Stewart Platform-based design, the novel manipulator’s motion capabilities are being examined through kinematic analysis, while the open-loop operation characteristics and performance of the manipulator’s control via a multiple PID-based scheme are being experimentally evaluated.