Design and Analysis for Motors Control of a 4-DOF Parallel Robot

In this paper, the complex robotic structure of a new 4-DOF parallel robot is designed in a mechatronic concept that integrates mechanical and control aspects. The kinematic and dynamic analysis for the control of motors that act the robot’s arms are presented. Delphi, LabView and SolidWorks softwares are used. The adopted constructive solution of the robot, designed in SolidWorks, has been presented. Then, the transposition of equations which describe the forward and inverse kinematic model of the robot has been performed using the LabView programming environment, a program that allows calling the servomotors’ control board - NI 7344 acquisition board. The angles for the actuated arms of robot have been calculated based on a program developed in the Delphi environment that contains both models - the forward and the inverse one. In order to determine the motor load, a dynamic computation and a simulation have been achieved in ComosMotion from the SolidWorks programming environment. Different results were extracted in the form of diagrams: the torque for the three servomotors acting the arms, the most loaded servomotor – the one that drives arm 1 and the variation of the angular velocity for the arm 1. Finally, the robot prototype has been achieved and interesting conclusions regarding the analyzed robotic structures have been inferred.