DESIGN, ASSEMBLY A SUPERVISION CONTROL SYSTEM OF THE 3RRR PARALLEL ROBOT FROM THE COMPUTER

Abstract

The content of the paper presents the results of research design and control
of the construction and monitoring system of the 3RRR parallel robot with three
degrees of freedom. The resulting system can control the robot to perform the
desired trajectories and collect data to determine the exact quality of the robot
trajectory. Calculations about kinematics, workspace, singularities and dynamics
models are detailed to serve as the basis for control design and construction of
program control. To check the results, the robot’s model has built on SolidWorks
and then integrated into Matlab-Simulink. At the same time, an experimental
system is implemented with the manipulator connecting to the computer for
control and monitoring.