Development of Three Dimensional Parallel Mechanism Robot with Pneumatic System

With the development of this technology, more and more robots have been used in the industries. This paper presents a three dimensional parallel mechanism robot with pneumatic systems. This article focuses on designing and implementing the mechanical parts, the pneumatic systems, and the control parts. Concerning the mechanical parts, the system is a three dimensional parallel mechanism robot which includes serial parts and parallel parts, and the end-effector of this system moves in a three dimensional motion in an X-Y-Z coordinate system. Regarding the pneumatic systems, the pneumatic actuators, the pneumatic servo valves and other pneumatic elements are used in the experiments. Concerning the control parts, a Fourier series-based adaptive sliding mode controller with Hoo tracking performance (FSB-ASMC+ H∞) is proposed to control the systems. The experimental results show the end-effector performs properly. In conclusion, the three dimensional parallel mechanism robot with pneumatic systems is implemented and the controller is the most efficient way to implement the systems.