Application of the “Design for Control” Approach in order to Facilitate the Design and Adaptive Control of a Delta Parallel Robot, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The Delta parallel robot is used extensively in many industries, including packaging, because of its superior speed and precision. In this project a Delta robot was designed and then controlled specifically for use in the production line of a plastic container factory. In order to optimally design the robot, a number of desirable fitness functions were defined thus: minimizing the dimensions of the robot for a specific desired workspace, minimzing the effect of the robot’s weight on its actuators and satisfying the demands of the “Design for Control” approach. Design for control means considering the complexity of controlling a system while designinig it. Therefore the remaining fitness...
Cataloging briefApplication of the “Design for Control” Approach in order to Facilitate the Design and Adaptive Control of a Delta Parallel Robot, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The Delta parallel robot is used extensively in many industries, including packaging, because of its superior speed and precision. In this project a Delta robot was designed and then controlled specifically for use in the production line of a plastic container factory. In order to optimally design the robot, a number of desirable fitness functions were defined thus: minimizing the dimensions of the robot for a specific desired workspace, minimzing the effect of the robot’s weight on its actuators and satisfying the demands of the “Design for Control” approach. Design for control means considering the complexity of controlling a system while designinig it. Therefore the remaining fitness...
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