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
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