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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118653


    Title: Development of a Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking
    Authors: Li, I-Hsum;Chiang, Hsin-Han;Lee, Lian-Wang
    Keywords: 3-DOF trajectory tracking;linear delta robot;rod-less pneumatic actuators;fuzzy-PID;fuzzy control;neural network (NN)
    Date: 2020-05-20
    Issue Date: 2020-06-01 12:11:33 (UTC+8)
    Publisher: MPDI
    Abstract: This paper focuses on developing a pneumatic-driven and horizontal-structure linear delta
    robot (PH-LDR) and increasing its trajectory tracking performance on the three-degrees-of-freedom
    (3-DOF) space. With the investigation of inverse and forward kinematics, the parallel mechanism of
    PH-LDR is designed by using three high-power and low-cost rod-less pneumatic actuators (PAs) to
    track 3-DOF motion, and this has a horizontal structure to enlarge the workspace. Since the PH-LDR
    features nonlinear coupling among its three axes and is disturbed by the three high-nonlinear rod-less
    PAs, the tracking control performance is significantly decreased, subject to uncertain nonlinearity and
    parametric uncertainty. Therefore, a fuzzy-PID controller is used to achieve highly accurate 3-DOF
    trajectory tracking, and furthermore, this study exploits neural networks (NNs) to pre-compensate
    the impacts arising from the compressibility of air and temperature change. The control system
    for the PH-LDR also features an embedded controller that allows real-time control. Experimental
    demonstration verifies the developed PH-LDR with the proposed controller, and the dynamic tracking
    accuracy in 3-DOF trajectory can be achieved.
    Relation: Applied Sciences 10(10), 3526
    DOI: 10.3390/app10103526
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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