Mechanical and Computational Design for Control of a 6-PUS Parallel Robot-based Laser Cutting Machine

Authors

  • Ricardo Zavala-Yoé Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico
  • Ricardo Ramirez -Mendoza Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico
  • Javier Ruiz-Garcia Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico

Keywords:

parallel robots, Modelling, Control, Laser applications

Abstract

A 6-PUS parallel robot is modelled, designed and controlled in terms of Newton – Euler equations in order to be implemented numerically. Direct and inverse kinematics as well as direct and inverse dynamics are analysed and solved. Direct kinematics is solved by introducing a novel numeric-geometric method here referred to as method of arcs. Next, direct and inverse dynamics problems are solved offering advantages traditional methods do not. Two types of controllers were implemented in order to get a desired performance. Two 3D robot designs are also shown. Numerical computations and simulations were developed in MATLAB. The whole design and control converges to a laser cutting machine application which is given at the end of the document.

Author Biographies

Ricardo Zavala-Yoé, Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico

Mechatronics, Researcher

Ricardo Ramirez -Mendoza, Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico

Graduate National School

References

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RUIZ-GARCÍA, J., ZAVALA-YOÉ, R. CHAPARRO-ALTAMIRANO, D., RAMIREZ-MENDOZA, R. Direct Kinematics of a 6-PUS Parallel Robot Using a Numeric-Geometric Method, Proceedings of the IEEE International Conference on Mechatronics, Electronics and Automotive Engineering, 2013, Cuernavaca, Morelos, México.

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RUIZ-GARCÍA, J., ZAVALA-YOÉ, R. CHAPARRO-ALTAMIRANO, D., RAMIREZ-MENDOZA, R. Direct and Inverse Dynamics of a 6-PUS Parallel Robot, Proceedings of the IEEE International Conference on Mechatronics, Electronics and Automotive Engineering, 2013, Cuernavaca, Morelos, México.

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Published

05-11-2015

How to Cite

Zavala-Yoé, R., Ramirez -Mendoza, R., & Ruiz-Garcia, J. (2015). Mechanical and Computational Design for Control of a 6-PUS Parallel Robot-based Laser Cutting Machine. Advances in Military Technology, 10(1), 31–46. Retrieved from https://www.aimt.cz/index.php/aimt/article/view/1061

Issue

Vol. 10 No. 1 (2015)

Section

Research Paper

Categories

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