Development, Kinematic Modeling and Analysis of 3 (DoF) Pneumatic Gantry Robot



Abstract Views
741

Downloads
811

Citations

Share

##plugins.themes.bootstrap3.article.sidebar##

Submitted May 1, 2020
Published Jun 2, 2020
10.24018/ejeng.2020.5.6.1917

Abstract viewed = 741 times

Table of Contents

##plugins.themes.bootstrap3.article.main##

Low friction pneumatic cylinders are now being considered in applications for which only electric motors or hydraulics were previously considered suitable. One potential application of low friction pneumatics is robotic for metallurgical operations where the high power to weight ratio and low cost could be exploited. As part of an ongoing project to develop a pneumatic robot, this paper presents the kinematic analysis of pneumatic cylinder characteristics that simplifies controller design. Using mathematical modeling and simulation, non-linearity of modern pneumatic systems have been investigated. The derived models give an excellent representation of the system, despite the inclusion of a simplified friction model.

Keywords: Pneumatics Robot Simulation Modeling

Downloads

Download data is not yet available.

References

  1. Thomas R. Kurfess Ph.D., P.E., Robotics and Automation Handbook, CRC Press.2005.
     Google Scholar
  2. Michael G. Pinches and Brian G.Callear, Power Pneumatics, Prentice Hall, Europe, 1996.
     Google Scholar
  3. Richardson R, Plummer AR, Brown MD, Self-tuning control of a low friction pneumatic actuator under the influence of gravity. Accepted for publication by Control systems technology, April 1999.
     Google Scholar
  4. Richardson R, Austin ME, Plummer AR. Development of a physiotherapy robot, Proceedings of the international biomech-atronics workshop, 1999; Enshede 19-21 April 116-120.
     Google Scholar
  5. Frank L.Lewis, Robot Manipulator Control Theory and Practice- Copyright © 2004 by Marcel Dekker, Inc.
     Google Scholar
  6. Reza N. Jazar, Theory of Applied Robotics, Second Edition, Springer Science and Business Media, LLC 2006, 2010.
     Google Scholar
  7. W. Bolton, Programmable logic controllers – An Introduction, Second Edition, Newness, 2000.
     Google Scholar
  8. H. Kazerooni, Design and Analysis of Pneumatic force Generators for mobile Robotic System. IEEE/ASME transactions on Mechatronics, Vol. 10. No. 4, August 2005.
     Google Scholar
  9. R.Richardson A.R.Plummer, M.Brown Modeling and simulation of pneumatic cylinders for a physiotherapy robot, School of Mechanical Engineering, University of Leeds,UK, 2006.
     Google Scholar
  10. Awad E. G. Mohamed, Investigation on Pneumatic Robot for Metallurgical Processes, PhD, thesis, Osmania University, India, 2010.
     Google Scholar