In this paper, a novel sixteen parallel manipulator
with discrete control system is developed. An efficient method
such as Inverse Static Analysis is employed to determine the state
of each actuator on parallel manipulator when the position or
force of manipulator is already known. The designing a parallel
manipulator with actuators which are controlled discretely is a
must because the mechanism will use artificial methods in dealing
with the ISA problem.
The research method used are simulation software and hardware
testing with the case of parallel manipulator with 16 actuators.
Simulations with typical desired force inputs are presented and a
good performance of the mechanism is obtained. The results
showed that the parallel manipulator has the Root Mean Squared
Error (RMSE) has less than 5%.
