JACIII Vol.27 No.5 pp. 923-931
doi: 10.20965/jaciii.2023.p0923

Research Paper:

Research on Active Disturbance Rejection Algorithm for Loading Control of 3-DOF Parallel Robot

Yu Liu ORCID Icon, Yumeng Chen, Yu Gong, and Guoxin Zhao ORCID Icon

College of Information Engineering, Beijing Institute of Petrochemical Technology
No.19 Qingyuan North Road, Daxing District, Beijing 102617, China

Corresponding author

December 2, 2022
May 29, 2023
September 20, 2023
parallel mechanism, kinematics, multi-dimensional loading device, pneumatic servo, active disturbance rejection

A three-dimensional (3D) loading device based on a pneumatic 3-universal-prismatic-universal (UPU) parallel manipulator (three chains with UPU joint each) is designed to apply time-varying multi-dimensional loads to a target. First, according to the principle of vector superposition and Newton–Raphson method, the inverse and forward kinematics of the loading device are analyzed. Second, based on the screw theory, the static mapping between the dynamic platform and actuations is derived. Third, a second-order mathematical model is established for pneumatic 3-UPU parallel mechanism based on proportional flow valve and a metal seal pneumatic cylinder. A referential inaccurate model is provided for the control algorithm during modeling. Fourth, based on active disturbance rejection control (ADRC) technique, a 3D loading control algorithm is proposed and dynamic loading control is realized. Experimental results show that the ADRC algorithm has good robustness against disturbances, the steady-state control accuracy is less than 2 N, and the mean square error in dynamic tracking (sinusoidal tracking at 0.2 Hz) is less than 10.5 N.

Loading control system of 3-UPU robot

Loading control system of 3-UPU robot

Cite this article as:
Y. Liu, Y. Chen, Y. Gong, and G. Zhao, “Research on Active Disturbance Rejection Algorithm for Loading Control of 3-DOF Parallel Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.5, pp. 923-931, 2023.
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