Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control objec...

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Detalles Bibliográficos
Autores principales: Laski, Pawel Andrzej, Smykowski, Mateusz
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8659855/
https://www.ncbi.nlm.nih.gov/pubmed/34883964
http://dx.doi.org/10.3390/s21237962
Descripción
Sumario:This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.

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