MECHATRONIC CONCEPTS IN DESIGN AND CONTROL OF A 3-RRR MICRO PARALLEL ROBOT

The paper presents an approach and concept to control a mechatronic system. Robots may be considered as typical mechatronic systems. The control is applied on a planar parallel robot with 3 DOF. The control was achieved based on SimMechanics toolbox of Matlab/Simulink. A method for determining the inverse kinematics of the 3- RRR planar parallel minirobot is presented. The article also presents the development process a 3-RRR parallel robot, pointing out the integration of the elements and showing the challenges needed to be faced for the interfaces between the robot modules and the GUI (Graphical User Interface). The user interface was build using Delphi, this environment allows the programmer to create complex application under Windows operation system. Planar parallel robots are good candidates for microminiaturization into a microdevice. Planar parallel robots have great potential for microminiaturization using processing technology developed for microsystems, because their components move on parallel planes and are connected by simple joints.