Design, Kinematic Solution, and Control of a Built-Up Prototype Translational Parallel Manipulator

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Abstract: In this paper, the mechanical design and kinematic solution of a built-up prototype translational parallel manipulator (TPM) with position control of its limbs are presented. A SolidWorks-based design and simulation is used for additional analysis, and a MATLAB-based iterative algorithm is developed for inverse kinematics solutions of the limbs. Limb movements are provided via screw rails, which are driven and controlled by DC motors with encoders. After the general mechanical design of the prototype manipulator, all parts are drawn and modeled in SolidWorks, and a motion simulation in three-dimensional space is performed. For the kinematic analysis, relevant equations are derived from geometric vector relations and solved iteratively in MATLAB. The calculated kinematic solutions obtained using MATLAB iteration are then compared with those evaluated from the SolidWorks simulation model. Finally, the accuracy of position control is tested with the calculated values, and very satisfactory results are obtained.

Design, Construction, Maintenance, ISSN / E-ISSN: 2944-912X / 2732-9984, Volume 5, 2025, Art. #17

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Erol Uyar, Lutfi Mutlu, Pourya Delirrad, "Design, Kinematic Solution, and Control of a Built-Up Prototype Translational Parallel Manipulator," Design, Construction, Maintenance, vol. 5, pp. 184-190, 2025, DOI:10.37394/232022.2025.5.17
Erol Uyar, Lutfi Mutlu, Pourya Delirrad. Design, Kinematic Solution, and Control of a Built-Up Prototype Translational Parallel Manipulator. Design, Construction, Maintenance. 2025;5:184-190. 10.37394/232022.2025.5.17
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