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Tham khảo tài liệu 'robot manipulators trends and development 2010 part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 312 Robot Manipulators Trends and Development b Fig. 15. Experimental values of absolute follow-up error signal of position a velocity b and acceleration c 6. Prototype of electro-pneumatic parallel 3-UPRR tripod manipulator In the Division of Mechatronics Kielce University of Technology Poland a prototype of pneumatic translational parallel manipulator PTPM of tripod kinematic structure was constructed Dindorf et al. 2005 Laski Dindorf 2007 . The prototype of tripod parallel manipulator with Festo servopneumatic precision positioning systems is presented in Fig. 1a. The manipulator possesses a supporting structure fixed base moving platform and three pneumatic linear motions servopneumatic axis . Each servopneumatic axis consists of rodless pneumatic cylinder type DGPIL-25-600 with integral feedback transducer built-in Temposonic encoders for continual positioning feedback to the master control unit 5 3 servopneumatic valve proportional directional control valve type MPYE-5-1 8-HF-010B axis interface type SPC-AIF positioning axis sub-controller type SPC-200 the use of a subcontroller card permits control of up to four axes and Ethernet Can Bus interface. According to the systematics the prototype of 3-DoF pneumatic translational parallel manipulators is of 3-UPRR kinematic structure Fig. 1b . Each of the three identical closed-loop chains of the manipulator consists of serial kinematic chains universal cardan joint U prismatic joint P formed by a rodless pneumatic cylinder and two revolute joints 2R formed after universal cardan had been parted. The slide of rodless cylinder was connected with fixed base by means of articulated joints of U cardan and the end cap of cylinder were Fuzzy logic positioning system of electro-pneumatic servo-drive 313 connected by revolute joint R to the moving platform. The second revolute joint R was placed in tool center point TCP of the moving platform. The presented construction of the parallel manipulator ensures parallel position