Volume 19, Issue 1 (January 2019)
Modares Mechanical Engineering 2019, 19(1): 115-123 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Rouhollahi A, Azmoun M, Tale Masouleh M, Kalhor A. Mechanical Improvement, Simulation, and Implementation of a Visual Servoing Position Controller of a 4-DOF Delta Parallel Robot. Modares Mechanical Engineering 2019; 19 (1) :115-123
URL: http://mme.modares.ac.ir/article-15-23684-en.html
URL: http://mme.modares.ac.ir/article-15-23684-en.html
1- Control Engineering Department, Electrical & Computer Engineering School, University of Tehran, Tehran, Iran
2- Mechatronics Engineering Department, New Science & Technologies Faculty, University of Tehran, Tehran, Iran
3- Machine Intelligence & Robotics Department, Electrical & Computer Engineering School, University of Tehran, Tehran, Iran , m.t.masouleh@ut.ac.ir
2- Mechatronics Engineering Department, New Science & Technologies Faculty, University of Tehran, Tehran, Iran
3- Machine Intelligence & Robotics Department, Electrical & Computer Engineering School, University of Tehran, Tehran, Iran , m.t.masouleh@ut.ac.ir
Abstract: (3904 Views)
This article investigated design and construction of a 4-DOF delta parallel robot’s components and additionally inverse kinematics and kinematics control of the robot. The initial and final version of the robot based on existing needs, the addition of gearboxes due to the low torque of motors, and flange transformations to connect the gearbox to the robot's base were also discussed. In the following, by simulating the robot in MATLAB software, the integrity of the inverse kinematic equation of the robot was investigated. In the other part, the design of the kinematic control in the joint space was discussed and the results were plotted in the graphs for a z-direction. By designing a suitable robot controller, tracing the desired path and comparing its results with other controllers become possible. By designing a conveyor for the robot and equipping it with a camera, detecting the objects that the robot moves them become possible with image processing. For the purpose of picking and placing the objects, the robot's end effector is equipped with a controlled suction. The results, through which the paths crossed, showed the designed PID controller for the robot was working correctly and the desired path was followed with small error.
Article Type: Original Research |
Subject:
Robotic
Received: 2018/07/31 | Accepted: 2018/10/1 | Published: 2019/01/1
Received: 2018/07/31 | Accepted: 2018/10/1 | Published: 2019/01/1
References
1. Pierrot F, Nabat V, Company O, Krut S, Poignet P. Optimal design of a 4-DOF parallel manipulator: From academia to industry. IEEE Transactions on Robotics. 2009;25(2):213-224. [Link] [DOI:10.1109/TRO.2008.2011412]
2. St-Onge BM, Gosselin CM. Singularity analysis and representation of the general gough-stewart platform. The International Journal of Robotics Research. 2000;19(3):271-288. [Link] [DOI:10.1177/02783640022066860]
3. Gosselin CM, Hamel JF. The agile eye: A high-performance three-degree-of-freedom camera-orienting device. Proceedings of the IEEE International Conference on Robotics and Automation, 8-13 May, 1994, San Diego CA, USA. Piscataway: IEEE; 1994. [Link] [DOI:10.1109/ROBOT.1994.351393]
4. Sharifzadeh M, Tale Masouleh M, Kalhor A. On human-robot interaction of a 3-DOF decoupled parallel mechanism based on the design and construction of a novel and low-cost 3-DOF force sensor. Meccanica. 2017;52(10):2471-2489. [Link] [DOI:10.1007/s11012-016-0593-x]
5. Karbasizadeh N, Zarei M, Aflakiyan A, Tale Masouleh M, Kalhor A. Experimental dynamic identification and model feed-forward control of Novint Falcon haptic device. Mechatronics. 2018;51:19-30. [Link] [DOI:10.1016/j.mechatronics.2018.02.013]
6. Pierrot F, Reynaud C, Fournier A. DELTA: A simple and efficient parallel robot. Robotica. 1990;8(2):105-9. [Link] [DOI:10.1017/S0263574700007669]
7. Danaei B, Arian A, Tale Masouleh M, Kalhor A. Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism. Multibody System Dynamics. 2017;41(4):367-90. [Link] [DOI:10.1007/s11044-017-9578-3]
8. Zamani Fekri M, Zarei M, Tale Masouleh M, Yazdani M. Optimal design and fabrication of a 4-DOF quattrotaar parallel robot with singularity-free workspace by ABC and PSO algorithms. Modares Mechanical Engineering. 2016;16(6):149-158. [Persian] [Link]
9. Stan SD, Manic M, Maties V, Balan R. Kinematics analysis, design and control of an isoglide3 parallel robot (IG3PR). 34th Annual Conference of IEEE Industrial Electronics, 10-13 Nov, 2008, Orlando FL, USA. Piscataway: IEEE; 2008. [Link]
10. Masouleh MT, Gosselin C, Saadatzi MH, Kong X, Taghirad HD. Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. Meccanica. 2011;46(1):131-46. [Link] [DOI:10.1007/s11012-010-9393-x]
11. Bindu S, Prudhvi S, Hemalatha G, Sekhar MN, Nanchariahl MV. Object detection from complex background image using circular hough transform. International Journal of Engineering Research and Applications. 2014;4(4):23-8. [Link]
12. Azmoun M, Rouhollahi A, Tale Masouleh M, Kalhor A. An experimental study on the development, kinematics and control of a 4-DOF delta parallel manipulator. 4th International Conference on Knowledge-Based Engineering and Innovation (KBEI), 22-22 Dec, 2017, Tehran, Iran. Piscataway: IEEE; 2017. [Link] [DOI:10.1109/KBEI.2017.8324945]
13. Rouhollahi A, Azmoun M, Tale Masouleh M. Experimental study on the visual servoing of a 4-DOF parallel robot for pick-and-place purpose. 6th Iranian Joint Congress on Fuzzy and Intelligent Systems (CFIS), 28 Feb.-2 March, 2018, Kerman, Iran. Piscataway: IEEE; 2018. [Link] [DOI:10.1109/CFIS.2018.8336617]
14. Merlet JP. Parallel robots. Heidelberg: Springer Science & Business Media; 2006. [Link]
15. Xie F, Liu XJ. Design and development of a high-speed and high-rotation robot with four identical arms and a single platform. Journal of Mechanisms Robotics. 2015;7(4):041015. [Link] [DOI:10.1115/1.4029440]
16. Williams II RL. Inverse kinematics and singularities of manipulators with offset wrist. IASTED International Journal of Robotics and Automation. 1999;14(1):1-8. [Link]
17. Mehrafrooz B, Mohammadi M, Tale Masouleh M. Dynamic modeling and sensitivity analysis of an n-linkage planar serial robot to design parameters based on Sobol and EFAST methods. Modares Mech Eng. 2016;16(6):321-32. [Persian] [Link]
18. Varshovi Jaghargh P, Naderi D, Tale Masouleh M. Forward kinematic problem of three 4-DOF parallel mechanisms (4-PRUR1, 4-PRUR2 and 4-PUU) with identical limb structures performing 3T1R motion pattern. Scientia Iranica Transaction B Mechanical Engineering. 2014;21(5):1671-1682. [Link]
19. Callegari M, Carbonari L, Palmieri G, Palpacelli MC, Tina D. Position control of a 3-CPU spherical parallel manipulator. Journal of Control Science and Engineering. 2013;2013:136841. [Link] [DOI:10.1155/2013/136841]
20. Vivas A, Poignet P. Predictive functional control of a parallel robot. Control Engineering Practice. 2005;13(7):863-874. [Link] [DOI:10.1016/j.conengprac.2004.10.001]
21. Bindu S, Prudhvi S, Hemalatha G, Raja Sekhar MN, Nanchariah MV. Object detection from complex background image using circular hough transform. International Journal of Engineering Research and Applications. 2014;4(4):23-28. [Link]
22. Karbasizadeh N, Zarei M, Aflakian A, Tale Masouleh M, Kalhor A. Experimental dynamic identification and model feed-forward control of Novint Falcon haptic device. Mechatronics. 2018;51:19-30. [Link] [DOI:10.1016/j.mechatronics.2018.02.013]
23. Nidhi. Image processing and object detection. International Journal of Applied Research. 2015;1(9 Pt G):396-399. [Link]
24. Tang Z, Liu K, Yang Z, Pei Z, Zhang Z. Object tracking system for video recording based Qt and OpenCV. Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology (ICMEIT). Paris: Advances in Engineering Research; 2016. [Link]
Send email to the article author
| Rights and permissions | |
 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |