| This thesis presents the mechanical design of the prototype of a planar three degree-of-freedom parallel manipulator with revolute joints and the design and implementation of a closed-loop control circuit which controls the motors of the constructed manipulator.; Mechanical design here is understood as the decision-making process involved in tasks such as: material selection, structural design and drive selection. In this study the aforementioned tasks for the three degree-of-freedom parallel manipulator are described in detail and their conclusions are used for the construction of the manipulator.; Finally a motor speed/control system for the control of the selected motors, to form a complete microprocessor-controlled DC motor servopositioning system, is designed. The final application circuit which includes additional hardware as well, is implemented connected and tested with the motors of the constructed prototype.; In addition an introduction to parallel processing and an interface proposal are made as a first step towards the next phase of this project. |
