{"title":"A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism","authors":"Qingqing Huang, Guanwei He, Guodong Feng, Beichen Ding","doi":"10.3390/act13030089","DOIUrl":null,"url":null,"abstract":"The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Actuators","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/act13030089","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM.
期刊介绍:
Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.