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Control strategy development for a small scale planar four-wire parallel mechanism

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The purpose of this thesis is to simulate, apply kinematics and dynamics model of arnplanar wire driven parallel mechanism by building a small-scale model of suchrnmechanism which is capable of executing point to point movement. Furthermore thernproblem faced in accomplishing the point to point movement is to generate therntrajectory from one point to the other and to control the motors to strictly follow therntrajectory. The proposed solution is to divide the system into four subsystems inrnwhich each subsystem is controlled by one microcontroller. Each microcontrollerrnperforms closed loop wire-length control with the implementation of P controller inrnorder for the subsystem to reach the set points in pre-determined time. Eachrnsubsystem managed to reach set points with average error of 2.017 mm. The wholernsystem however is having difficulties in keeping the wire in tension which caused thernwire-length control to perform falsely and in turn it caused the moving platform tornable to reach the desired point but with significant error. In conclusion thernsynchronization of the subsystem cannot be achieved solely using wire-length control.rnThe expected further development is to apply closed loop wire-tension control systemrnto keep the wire tension in the desired range.

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Availability

B00895

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Available

Detail Information

Series Title

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Call Number

895

Publisher

: Swiss German University., 2011

Collation

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Language

English

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Classification

NONE

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Edition

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Subject(s)

MT

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