Parallel Robotic Manipulation via Pneumatic Artificial Muscles

Dimitris Gryparis, George Andrikopoulos, Stamatis Manesis

2014

Abstract

In this article, a 6 Degree-of-Freedom (DOF) parallel manipulator, actuated by Pneumatic Artificial Muscles (PAMs), is being presented. Incorporated in a two Stewart Platform-based design, the novel manipulator’s motion capabilities are being examined through kinematic analysis, while the open-loop operation characteristics and performance of the manipulator’s control via a multiple PID-based scheme are being experimentally evaluated.

References

  1. Andrikopoulos, G., Nikolakopoulos, G. & Manesis, S., (2011) A Survey on Applications of Pneumatic Artificial Muscles. 19th Mediterranean Conference on Control and Automation (MED), 20-23 June 2011, Corfu, Greece, pp. 1439-1446.
  2. Calabria, M., et al. (2012) “Redundancy resolution and control of manipulators driven by antagonistic pneumatic muscles. 17th International Conference on Methods & Models in Automation & Robotics (MMAR), 27-30 August 2012, Miedzyzdroje, Poland, pp. 119-124.
  3. Cazalilla, J. et al. (2014) Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models. Robotics and ComputerIntegrated Manufacturing, 30, p. 468-477.
  4. Denkena, B. et al. (2008) New Compliant Mc-Kibben Actuator Driven by Pneumatic Actuators as a Hexapod Platform in Robotic Applications. 10th Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), 11-13 November 2008, Noordwijk, The Netherlands.
  5. Guo, H. et al. (2007) Cascade control of a hydraulically driven 6-DOF parallel robot manipulator based on a sliding mode. Control Engineering Practice, 16, p. 1055-1068.
  6. Khosravi, M. & Taghirad H. (2014) Robust PID control of fully-constrained cable driven parallel robots. Mechatronics, 24, p.87-97.
  7. Ning, K. et al. (2006) A New Wire-Driven Three Degreeof-Freedom Parallel Manipulator. Journal of Manufacturing Science and Engineering, 128(3), p. 816-819.
  8. Pi, Y. & Wang X. (2010) Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate. Mechatronics, 20, p. 648-655.
  9. Radojicic J. & Surdilovic, D. (2009) Modular Hybrid Robots for Safe Human-Robot Interaction. International Journal of World Academy of Science, Engineering and Technology (WASET), 60, p. 832- 838.
  10. Stewart, D. (1965) A Platform with Six Degrees of Freedom. Institution of Mechanical Engineers. 180(15).
Download


Paper Citation


in Harvard Style

Gryparis D., Andrikopoulos G. and Manesis S. (2014). Parallel Robotic Manipulation via Pneumatic Artificial Muscles . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 29-36. DOI: 10.5220/0005008700290036


in Bibtex Style

@conference{icinco14,
author={Dimitris Gryparis and George Andrikopoulos and Stamatis Manesis},
title={Parallel Robotic Manipulation via Pneumatic Artificial Muscles},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={29-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005008700290036},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Parallel Robotic Manipulation via Pneumatic Artificial Muscles
SN - 978-989-758-040-6
AU - Gryparis D.
AU - Andrikopoulos G.
AU - Manesis S.
PY - 2014
SP - 29
EP - 36
DO - 10.5220/0005008700290036