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Design and control of a high performance SCARA type robotic arm with rotary hydraulic actuators

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dc.contributor.authorLiyanage, M. H
dc.contributor.authorKrouglicof, N
dc.contributor.authorGosine, R
dc.date.accessioned2022-02-09T08:53:25Z
dc.date.available2022-02-09T08:53:25Z
dc.date.issued2009-05-03
dc.description.abstractThis study proposes a selective compliant assembly robotic arm (SCARA) with two revolute joints for poultry deboning. The joints of the arm are based on two high performance rotary type hydraulic actuators. These actuators are operated by servo valves, which control hydraulic fluid flow and direction. A PID based independent joint control system is considered for controlling the position of each joint. The system was modelled using the MATLAB-SIMULINK toolbox. The simulation results show that the arm was capable of covering a work envelope of 0.9 m times 0.9 m, reaching controlled velocities of up to 7.5 m/s with an average of 5.8 m/s. Obtaining such high speeds and torques would be a difficult task with electrical actuators of the capacity as the hydraulic counterparts considered here.en_US
dc.identifier.citationM. H. Liyanage, N. Krouglicof and R. Gosine, "Design and control of a high performance SCARA type robotic arm with rotary hydraulic actuators," 2009 Canadian Conference on Electrical and Computer Engineering, 2009, pp. 827-832, doi: 10.1109/CCECE.2009.5090244.en_US
dc.identifier.doi10.1109/CCECE.2009.5090244en_US
dc.identifier.issn0840-7789
dc.identifier.urihttps://rda.sliit.lk/handle/123456789/1067
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2009 Canadian Conference on Electrical and Computer Engineering;Pages 827-832
dc.subjectDesignen_US
dc.subjectcontrolen_US
dc.subjecthigh performanceen_US
dc.subjectSCARA typeen_US
dc.subjectrobotic armen_US
dc.subjectotary hydraulic actuatorsen_US
dc.titleDesign and control of a high performance SCARA type robotic arm with rotary hydraulic actuatorsen_US
dc.typeArticleen_US
dspace.entity.typePublication

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Research Papers - Department of Mechanical Engineering