Ultimate Load-Carrying Capacity Analysis of Parallel Robots with Given Motor Power

被引：0

作者：

Huang, Chenhui ^{[1
,2
,3
]}

Bi, Weiyao ^{[1
,2
,3
]}

Mei, Bin ^{[1
,2
,3
]}

Meng, Qizhi ^{[1
,2
,3
]}

Liu, Xin-Jun ^{[1
,2
,3
]}

Xie, Fugui ^{[1
,2
,3
]}

机构：

[1] Tsinghua Univ, State Key Lab Tribol, Beijing 100084, Peoples R China

[2] Tsinghua Univ, Tsinghua Univ DME Siemens Joint Res Ctr Adv Robot, Beijing 100084, Peoples R China

[3] Tsinghua Univ, Dept Mech Engn DME, Beijing Key Lab Precis Ultraprecis Mfg Equipments, Beijing 100084, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

How to determine the load-carrying capacity of parallel robots with given motors is a problem which is of vital importance to engineering application. Considering the inaccuracy of the analytical method and low efficiency of the finite element method, this paper proposes a semi analytical method to calculate the ultimate load-carrying capacity of a parallel robot when the motor power is given. First, the inverse kinematics of the parallel robot is investigated to obtain the speed of the rod, thus the ultimate load-carrying capacity of the motor can be known according to the maximum speed of the rod, that corresponds to the minimum stress of the rod. Then, the corresponding ultimate load is obtained by finite element method when the stress of the rod reached the minimum, and the response equation is obtained by using the response surface method (RSM) according to the ultimate load. Finally, the ultimate load-carrying capacity of the parallel robot can be obtained. The method proposed in this paper can effectively calculate the ultimate load-carrying capacity of the parallel robot under all the postures. The semi-analytical method conducted in this paper is helpful for studying the failure mode, fatigue life, optimal design and engineering application of the parallel robot.

引用

页码：48 / 52

页数：5

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