International Journal of Applied Mathematics, Computational Science and Systems Engineering
E-ISSN: 2766-9823
Volume 4, 2022
Design Controller and Fibrication of 5R Parallel Robot For biopsy operation
Authors: , , ,
Abstract: Todays, robots are used instead of labors in dangerous environments for long term by more accuracy. Some of them are made as serial arms and rest of them has parallel, configuration. In design of robot, after main configuration, kinematic and dynamic analysis are main steps. By having them controller design is possible. Also, kinematic inverse and dynamic inverse analysis is essential for main processes. parallel robots are employed widely in many applications due to their properties related to geometry. 5R robot is one of them which is utilized in sorting and engraving. Current paper presents a PI controller for this robot which was designed by coupling SolidWorks and MATLAB software to simulate kinematic of robot. It will be used in medicine injection in next work. Finally, a test rig of robot was fabricated in lab for accuracy assessment. It includes two servomotors which is controlled by Arduino as DAQ. The stability of robot in terms of trajectory control was reach properly.
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Pages: 93-97
DOI: 10.37394/232026.2022.4.12