Dynamic analysis of a planar 2-DoF manipulator driven by pneumatic actuators

In recent years, parallel manipulators have become increasingly popular in industries, especially, in the field of machine tools handling and, pick and place operations. In this thesis work, a planar 2-degree-of-freedom (DoF) parallel-kinematic-mechanism (PKM) manipulator, which is actuated by a pair of pneumatic drives is proposed. A full kinematic analysis of the manipulator is discussed in reference with a desired trajectory and motion law. In this analysis it is shown that the inverse and forward kinematics can be described in closed form; the velocity equation, singularity, and workspace of the manipulator are presented. Furthermore, the inverse dynamics analysis of the PKM manipulator is investigated employing the Newton-Euler approach, which targets on getting the desired driving force that should be applied at the joints by the actuators. After determining the drive forces, a model of pneumatic actuator is designed, which consists of models for a standard FESTO DGP/DGPL 32 linear actuator and for a 5/3 MYPE 1/8 proportional valve. The main work for analysis of the proposed planar manipulator is done in a Matlab/Simulink environment. In addition, a 3D physical model of the PKM manipulator which is created in a Solidworks graphic interface and then translated into a Simulink/Simmechanics environment has been used in both the kinematic and dynamic analysis stages. A numerical simulation of the manipulator is done based on the models created and the desired trajectory and law of motion chosen. Primary results obtained from this simulation are discussed, giving particular attention to the position error. And finally, an appropriate control strategy is designed meant to reduce the resulting error in position of the end-effector. At the end, a comprehensive conclusion of the entire work is presented and necessary recommendations are forwarded.