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Force/Position Control of 3 DOF Delta Manipulator with Voice Coil Actuator

Published: 28 June 2017 Publication History

Abstract

Parallel manipulators are widely used in the industries for several applications. Due to its precision in motion as well as its robustness, parallel manipulators have proved its advantage over serial manipulators. In this paper, a 3DOF parallel manipulator is presented and force control of the manipulator is demonstrated. The proposed manipulator uses a direct drive voice coil arc actuators to achieve compliance required for human-robot interaction or soft mechanical manipulations. Its implementation in the proposed delta manipulator is discussed in the paper. The paper has discussed a unique method of controlling position as well as the force at the end-effector of the delta manipulator. The method used in making the manipulator compliant does not need an explicit force sensor and is convenient to implement. The method is inexpensive and works satisfactorily in a human interactive environment which is demonstrated through experiments discussed in the paper. The proposed design finds its application in robot-assisted assembly, surface finishing, cooperative manipulation, haptics etc.

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Cited By

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  • (2022)Position Control of a Two-Degree-of-Freedom Parallel Robot Including Torsion Springs and Motor/Load-Side EncodersIECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society10.1109/IECON49645.2022.9968813(1-6)Online publication date: 17-Oct-2022

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cover image ACM Other conferences
AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics
June 2017
325 pages
ISBN:9781450352949
DOI:10.1145/3132446
© 2017 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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  • IIT-Delhi: IIT-Delhi

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New York, NY, United States

Publication History

Published: 28 June 2017

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Author Tags

  1. Delta manipulator
  2. force control
  3. passive compliance
  4. voice coil actuator (VCA)

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AIR '17
AIR '17: Advances in Robotics
June 28 - July 2, 2017
New Delhi, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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  • (2022)Position Control of a Two-Degree-of-Freedom Parallel Robot Including Torsion Springs and Motor/Load-Side EncodersIECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society10.1109/IECON49645.2022.9968813(1-6)Online publication date: 17-Oct-2022

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