Mathematical modeling, control, computer simulation and laboratory experiments of a spatial servopneumatic parallel robot. (Q2499005)

The paper presents a special construction of controlled parallelly structured spatial servopneumatic multi-axles test facility (MAP). The test facility has been developed in several steps. At the first step, sophisticated mathematical models of both the spatial mechanics and servo-pneumatic actuators have been derived. Based on analytically computed parameters of the test facility and on model parameters of actuators, which were estimated by laboratory experiments, at the second step the author performs a computer simulation of the test facility. At the third step, linear and nonlinear control algorithms are derived based on the model equations of step one. The efficiency of the algorithms is tested in computer simulations (step four). At the fifth step, the test facility has been constructed and built. Using the procedure of rapid prototyping, the control algorithms together with the required sensing elements are implemented in electronic components in step six. At the last step, the safety system of the test facility has been installed and the quality of the system has been investigated in laboratory experiments. The results obtained by these investigations can be directly applied to different types of parallel robots (Hexapods, MAPs, machine tools etc.). In addition, the author describes the laboratory set-up of the test facility as well as various laboratory experiments.