Modeling and Control Techniques for Planar Parallel Robots

During the previous 20-year period, interest in parallel robots has grown. Some robotics companies offer commercially available parallel robots, but not all possible kinematic architectures have been explored. Due to it’s their good stiffness and high dynamic performance, these robots are particularly suitable for quick pick-and-place applications. Making a model for a plane-parallel manipulator with three degrees of freedom (3-DOF) is the goal of this chapter. The development of the manipulator’s direct and inverse geometric models is the chapter’s initial focus. We focus, after, on kinematic and dynamic modeling in order to study the dynamic behavior of a general mechatronic system consisting of the manipulator motorized by three identical DC motors. A route planning control strategy is proposed to achieve this control task. Three PID (Proportional-Integral-Derivative) controllers are used to implement a closed-loop control strategy.