NDLI: The Motion Analysis and Control of a Three-Degree-of-Freedom Parallel Mechanism

Content Provider	IEEE Xplore Digital Library
Author	Ta-Ming Shih Chih-Nan Ni Chin-Lung Chang Ching-Chung Li
Copyright Year	2006
Description	Author affiliation: Dept. of Weapon Syst. Eng., NDU (Ta-Ming Shih; Chih-Nan Ni)
Abstract	The purpose of this research is to study the motion analysis and control of a 3 degree of freedom parallel mechanism by confining the motion of a 6 degree of freedom platform. The pitch, roll and length of the upper moving platform are assumed be movable. The relationships between the limb length and moving platform are first derived and verified by numerical simulation, and then by using the Lagrange equation, the roll and pitch equations of motion are derived. Based on the advantages of linear and nonlinear control, P.I.D. (proportional integral derivative) and sliding mode control is added to control the mechanism. The limb lengths are varied to control the pitch and roll posture of moving platform and showed satisfactory results
Sponsorship	IEEE Singapore Sect. IEEE Singapore SMC Chap. IEEE Singapore RA Chap
Starting Page	1
Ending Page	6
File Size	589710
Page Count	6
File Format	PDF
ISBN	1424400244
DOI	10.1109/RAMECH.2006.252752
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-01
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion analysis Motion control Sliding mode control Integral equations Nonlinear equations PD control Pi control Proportional control Numerical simulation Lagrangian functions Sliding mode parallel mechanism kinematics analysis
Content Type	Text
Resource Type	Article

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