Modelling and Control of a Parallel Redundant Manipulator with Hydraulic Actuators

Abstract

The parallel robotic manipulator, MULTIPOD, is specially designed for carrying out drilling tasks in mines. It is based on two parallel three-degree-of-freedom mechanisms in serial connection. The structure that provides excellent stiffness is hydraulically driven and has six degrees of mobility. The pose of the end-effector is described by five degrees of freedom. In this paper, complete kinematic and dynamic analyses of the manipulator are carried out. In addition, a proportional controller equipped with hydraulic force feedback is designed for the robot. The simulated results that demonstrate the behaviour of the manipulator are presented in this paper.