DYNAMIC ANALYSIS OF A PARALLEL PICK-AND-PLACE ROBOT WITH FLEXIBLE LINKS

被引：0
|
作者：
Li, Haihong [1 ]
Yang, Zhiyong [1 ]
机构：
[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
来源：
PROCEEDINGS OF THE 9TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS - 2008, VOL 4 | 2009年
关键词：
MANIPULATOR;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.
引用
收藏
页码：405 / 411
页数：7
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