Dynamics and Optimization of a 2-Dof Parallel Robot with Flexible Links

被引：3
|
作者：
Li, Haihong [1 ]
Yang, Zhiyong [1 ]
Huang, Tian [1 ]
Mei, Hangping [1 ]
机构：
[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
来源：
2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年
关键词：
Dynamics; Elasto-dynamics optimization; Parallel robot; Flexible links;
D O I：
10.1109/WCICA.2008.4593057
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Dynamics analysis and optimization of a 2-DOF parallel robot with flexible links for high-speed pick-and-place operation was investigated. The robot named Diamond robot is composed of two limbs, each essentially consisting of two sets of parallelograms with an elbow in between. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. These equations were then transformed into a FEM model of the whole system. Modal analysis presents the dynamic performance and throws light on elasto-dynamics optimization aimed to manipulate in higher speed with high accuracy. A method to indicate the robot dynamics was built on classified natural frequencies according to their modes. Elasto-dynamics optimization is good effect on improving the dynamics of the robot. The skeleton is universal to dynamics analysts and design of any Pick-and-place robot with flexible links.
引用
收藏
页码：1000 / 1003
页数：4
相关论文
共 50 条
  • [1] Dynamics and elasto-dynamics optimization of a 2-DOF planar parallel pick-and-place robot with flexible links
    Li, Haihong
    Yang, Zhiyong
    Huang, Tian
    [J]. STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION, 2009, 38 (02) : 195 - 204
  • [2] Dynamics and elasto-dynamics optimization of a 2-DOF planar parallel pick-and-place robot with flexible links
    Haihong Li
    Zhiyong Yang
    Tian Huang
    [J]. Structural and Multidisciplinary Optimization, 2009, 38 : 195 - 204
  • [3] The design of a 2-dof novel flexible parallel robot
    Zhao, Yongjie
    Huang, Tian
    Yang, Zhiyong
    [J]. ROBOTICA, 2006, 24 : 603 - 604
  • [4] Kinematics and Dynamics Analysis of a 2-DOF Spherical Parallel Robot
    Arian, Alaleh
    Danaei, Behzad
    Masouleh, Mehdi Tale
    [J]. 2016 4TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2016, : 154 - 159
  • [5] ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH FLEXIBLE LINKS
    Luo Lei Wang Shigang Mo Jinqiu Cai Jianguo School of Mechanical Engineering
    [J]. Chinese Journal of Mechanical Engineering, 2005, (01) : 112 - 117
  • [6] Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
    Jiang, Leijie
    Gao, Bingtuan
    Zhu, Zhenyu
    [J]. SHOCK AND VIBRATION, 2017, 2017
  • [7] Study on Dynamic Characteristics of Parallel Robot with 2-DOF
    Chen, Meiyu
    Xin, Hongbing
    Li, Quanlai
    Xin, Yuefei
    Cui, Dengqi
    Liu, Long
    Wang, Tan
    [J]. ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4, 2013, 397-400 : 1558 - 1562
  • [8] On the positioning error of a 2-DOF spherical parallel wrist with flexible links and joints - an FEM approach
    Palmieri, G.
    [J]. MECHANICAL SCIENCES, 2015, 6 (01) : 9 - 14
  • [9] The Kinematic Performance Optimization of a 2-DoF Parallel Robot based on New Variance Indices
    Hao, Qi
    Li, Shizhong
    Liu, Bo
    [J]. PROCEEDINGS OF 2016 IEEE ADVANCED INFORMATION MANAGEMENT, COMMUNICATES, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IMCEC 2016), 2016, : 469 - 473
  • [10] Dynamics analysis of 2-DOF complex planar mechanical system with joint clearance and flexible links
    Xiulong Chen
    Shuai Jiang
    Yu Deng
    Qing Wang
    [J]. Nonlinear Dynamics, 2018, 93 : 1009 - 1034
12345