Real-time Fuzzy Position Control and Design of Star Parallel Robot

Real-time Fuzzy Position Control and Design of Star Parallel Robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Real-time Fuzzy Position Control and Design of Star Parallel Robot Muhammet Aydın This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3738356/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 06 Nov, 2024 Read the published version in Journal of the Brazilian Society of Mechanical Sciences and Engineering → Version 1 posted 5 You are reading this latest preprint version Abstract The goal of this study is to use fuzzy logic to develop and operate a specially made Star parallel robot inside a given working volume. The robot was constructed and outfitted with the required components after it was designed in Solidworks with a working volume of 20x20x20 cm³. Fuzzy logic was used in a Matlab/Simulink Real-time environment to accomplish real-time position control. The objective was to use reference values of x = 100 mm, y = 200 mm, and z = 480 mm to regulate the end effector's location. The robot demonstrated the efficacy of the control mechanism by reaching the intended values in 8.286 seconds with a maximum error of 0.08%, as per the results. The investigation shed light on the trajectory of the robot as well as the error convergence over time. This paper presents a unique design with a working volume for a Star parallel robot, introducing the first application of real-time fuzzy logic control. Furthermore, the Star parallel robot's forward kinematic equations were published in the literature for the first time. Real-time control Star parallel robot linear delta position control fuzzy control Full Text Cite Share Download PDF Status: Published Journal Publication published 06 Nov, 2024 Read the published version in Journal of the Brazilian Society of Mechanical Sciences and Engineering → Version 1 posted Reviewers agreed at journal 31 Jan, 2024 Reviewers invited by journal 24 Jan, 2024 Editor assigned by journal 16 Jan, 2024 First submitted to journal 22 Dec, 2023 Editorial decision: Major revisions 21 Dec, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3738356","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":269352183,"identity":"7cb033ca-b8f4-45d0-9d04-58a869124161","order_by":0,"name":"Muhammet Aydın","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA6klEQVRIiWNgGAWjYFACHijN3vjgAISVQJwWCQaewwZALQYQLQeI0iKRDFJOhBbdGbkHP93Msanjn/mY8XBFzR8GfvYcA+aPe3BrMbuRlyyduy1NQuJ2MsPBM8cMGCR73hgwHHiGT0uOAVDLYQmG2/kHDjawGTAYAEUYDuBxGVCL8e/cbf8l5G8eZjjY8M+AwZ4ILWZAWw5IGNxgZjjY2Aa0RYKQljNvzKxztyVLbjwD9EtjnzGPxJlnBQfO4NNyPMf4du42O36544eZPzZ8k5Pjb0/e+KACjxYMAI4mUjSMglEwCkbBKMACACU0V1Hl/7iMAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0003-2746-9477","institution":"Firat University: Firat Universitesi","correspondingAuthor":true,"prefix":"","firstName":"Muhammet","middleName":"","lastName":"Aydın","suffix":""}],"badges":[],"createdAt":"2023-12-11 12:37:27","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3738356/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3738356/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s40430-024-05202-4","type":"published","date":"2024-11-06T15:57:38+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":68750116,"identity":"591ce6ef-ca79-41cc-8a55-cc5477eab036","added_by":"auto","created_at":"2024-11-11 16:09:55","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1374551,"visible":true,"origin":"","legend":"","description":"","filename":"RealtimeFuzzyPositionControlandDesignofStarParallelRobot.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3738356/v1_covered_b7b042d1-3655-469e-9ebd-fb0f0466638b.pdf"}],"financialInterests":"","formattedTitle":"Real-time Fuzzy Position Control and Design of Star Parallel Robot","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"journal-of-the-brazilian-society-of-mechanical-sciences-and-engineering","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"bmse","sideBox":"Learn more about [Journal of the Brazilian Society of Mechanical Sciences and Engineering](http://link.springer.com/journal/40430)","snPcode":"40430","submissionUrl":"https://www.editorialmanager.com/bmse/default2.aspx","title":"Journal of the Brazilian Society of Mechanical Sciences and Engineering","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Real-time control, Star parallel robot, linear delta, position control, fuzzy control","lastPublishedDoi":"10.21203/rs.3.rs-3738356/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3738356/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThe goal of this study is to use fuzzy logic to develop and operate a specially made Star parallel robot inside a given working volume. 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