Proportional control of a parallel robogami delta mechanism with embedded 2D printed angle sensor feedback

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Robogami structures are employed for many purposes, including miniature parallel manipulators. Parallel manipulators require accurate joint position feedback, underlining the open problem in robogami structures for providing sophisticated feedback with 2D, fully embeddable, down-scalable, flexible sensors. Existing studies include only on-off control applications, excluding any parallel mechanism implementations and continuous proportional control signals. We implement silver inkjet printed angle sensors for the first time into a robogami structure and use this class of sensors for control. For the first time, a parallel manipulator is controlled with a 2D sensor, and printed sensors are tested for continuous control. Performances are analyzed with set-point and tracking control tasks using a paper Delta mechanism, compared with on-off control and encoder feedback control cases for better evaluation. A detailed comparison with the existing studies both for robogami parallel mechanisms and other sensor-embedded flexible hinges is provided. Encoder-like control performances are achieved in a wide range of the joint space and down to ~1 mm. RMS task space accuracy is recorded. Sources and potential improvements for the less accurate regions are stated. We conclude that printed sensors are promising for parallel mechanisms and continuous signal control applications.

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Publisher Copyright:
© IMechE 2024.


The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) [Grant Number 216M193]

FinansörlerFinansör numarası
Türkiye Bilimsel ve Teknolojik Araştırma Kurumu216M193

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