Mechanical and Computational Design for Control of a 6-PUS Parallel Robot-based Laser Cutting Machine

摘要

A 6-PUS parallel robot is modelled, designed and controlled in terms of Newton – Euler equations in order to be implemented numerically. Direct and inverse kinematics as well as direct and inverse dynamics are analyzed and solved. Direct kinematics is solved by introducing a novel numeric-geometric method here referred to as method of arcs. Next, direct and inverse dynamics problems are solved offering advantages traditional methods do not. Two types of controllers were implemented in order to get a desired performance. Two 3D robot designs are also shown. Numerical computations and simulations were developed in MATLAB. The whole design and control converges to a laser cutting machine application which is given at the end of the document.