An engineering-oriented motion accuracy fluctuation suppression method of a hybrid spray-painting robot considering dynamics

被引：27

作者：

Liu, Zilin ^{[1
,2
,3
]}

Wu, Jun ^{[1
,2
,3
]}

Wang, Dong ^{[1
,2
,3
]}

机构：

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

[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China

[3] Beijing Key Lab Precis Ultraprecis Mfg Equipment, Beijing 100084, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2019年 / 131卷

基金：

欧盟地平线“2020”; 中国国家自然科学基金;

关键词：

Hybrid spray-painting robot; Dynamic characteristics; Workspace optimization; Control parameter design; PARALLEL MANIPULATOR; MECHANISM; INDEX;

D O I：

10.1016/j.mechmachtheory.2018.09.015

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Due to the complex dynamic characteristics of a hybrid spray-painting robot, the motion accuracy fluctuates in the workspace. In order to reduce the accuracy fluctuation of the hybrid robot, this paper proposes an engineering-oriented motion accuracy assurance method by considering dynamic characteristics, including workspace optimization and control parameters design. First, the dynamic model of the hybrid spray-painting robot is derived based on the virtual work principle, and a dynamic evaluation index is investigated to describe the possible maximum dynamic load. Then, based on the evaluation index, the relative location of the task workspace for painting an aircraft wing in the whole workspace is optimized. Then, a control parameters design approach is presented to ensure that the robot always has desired accuracy in the optimized task workspace. Finally, some experiments are performed, and the results show that the robot has better performance in the optimized task workspace with the designed control parameters, which proves the effectiveness of the proposed method. (C) 2018 Elsevier Ltd. All rights reserved.

引用

页码：62 / 74

页数：13