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
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author Laski, Pawel Andrzej
Smykowski, Mateusz
author_facet Laski, Pawel Andrzej
Smykowski, Mateusz
author_sort Laski, Pawel Andrzej
collection PubMed
description 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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spelling pubmed-86598552021-12-10 Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot Laski, Pawel Andrzej Smykowski, Mateusz Sensors (Basel) Article 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. MDPI 2021-11-29 /pmc/articles/PMC8659855/ /pubmed/34883964 http://dx.doi.org/10.3390/s21237962 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Laski, Pawel Andrzej
Smykowski, Mateusz
Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title_full Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title_fullStr Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title_full_unstemmed Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title_short Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot
title_sort using a development platform with an stm32 processor to prototype an inexpensive 4-dof delta parallel robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8659855/
https://www.ncbi.nlm.nih.gov/pubmed/34883964
http://dx.doi.org/10.3390/s21237962
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