Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot

다축 동기 제어 방법 기반의 산업용 고속 병렬로봇 제어

  • Do, Hyun Min (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Byung In (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kyung, Jin Ho (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • Received : 2016.09.02
  • Accepted : 2016.10.14
  • Published : 2016.10.15
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Abstract

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

Keywords

References

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