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Lightweight design and encoderless control of a miniature direct drive linear delta robot

Baran, Eray Abdurrahman and Kurt, Tarık Edip and Şabanoviç, Asif (2013) Lightweight design and encoderless control of a miniature direct drive linear delta robot. In: 8th International Conference on Electrical and Electronics Engineering (ELECO 2013), Bursa, Turkey

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Official URL: http://dx.doi.org/10.1109/ELECO.2013.6713893

Abstract

This paper presents the design, integration and experimental validation of a miniature light-weight delta robot targeted to be used for a variety of applications including the pick-place operations, high speed precise positioning and haptic implementations. The improvements brought by the new design contain; the use of a novel light-weight joint type replacing the conventional and heavy bearing structures and realization of encoderless position measurement algorithm based on hall effect sensor outputs of direct drive linear motors. The description of mechanical, electrical and software based improvements are followed by the derivation of a sliding mode controller to handle tracking of planar closed curves represented by elliptic fourier descriptors (EFDs). The new robot is tested in experiments and the validity of the improvements are verified for practical implementation.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery
ID Code:23099
Deposited By:Eray Abdurrahman Baran
Deposited On:21 Jan 2014 10:25
Last Modified:21 Jan 2014 10:25

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