Real time 6-DOF motions of electrically actuated parallel manipulator controlled by fuzzy tuned PI for robot aided modern production techniques

Present real time work includes experimentations on 6-DOF motions of an electrically actuated parallel manipulator precisely controlled by Fuzzy tuned PI controller suppressing oscillatory motions. Three linear motions as heave, surge and sway along with three angular motions yaw, roll and pitch about three fundamental axes are performed with various step and square-wave demand to orient the platform accordingly. Workspace of top moving plate of the present set up is identified using inverse kinematic formulation. Maximum ranges of surge, sway and heave translation about its neutral position are verified using forward kinematics as 0.135, 0.125 and 0.085 m respectively whereas that of roll and pitch are 22 degree with yaw 32 degree. Forward kinematics also ensure vibration free response of the platform for various step and square-wave demand. Real time experimentation with one translational as heave and one rotational motion as yaw of the platform have been explained in details focusing real time industrial applications. 6-DOF motions of this manipulator are applicable in emerging manufacturing processes like multi layered material deposition, surface decoration, overhang structured additive manufacturing, water-jet cutting, welding, shaping and polishing.