Description

UPCommons link: http://upcommons.upc.edu/handle/2117/101560

The goal of this project is to develop a system able to control the balance of the moving platform of a parallel robot. The project includes 1) a Gough-Stewart parallel robot, created and assembled at IRI's lab; 2) 6 Dynamixel rotary actuators to move the platform; 3) and an Arduino UNO electronic board to control the rotary actuators and to process the data provided by 4) an inertia measurement unit MPU-6050 sensor.

In this project, it is described how the communication between the devices and the electronic board, which acts as the master, is established. It is specified what kind, and how, the communication is performed between each device to send and receive data. As the controller is implemented on an Arduino, the programming language required is Processing.

Given the dimensions of the prototype, the project is not focused on the analysis of the involved forces, but on its kinematics. Therefore, this work also details the algebraic manipulations needed to set the different configurations that the platform demands according to the kinematics of the parallel robot.