Application of the principle of energy equivalence to obtain suitable models of parallel planar mechanisms for identification including friction parameters. A case study: 5R RePlaLink haptic mechanism

被引：1

作者：

Roldan-Paraponiaris, Constantino ^{[1
]}

Campa, Francisco J. ^{[1
]}

Paris, Jascha ^{[2
]}

Koelling, Thomas ^{[2
]}

Altuzarra, Oscar ^{[1
]}

Corves, Burkhard ^{[2
]}

机构：

[1] Univ Basque Country UPV EHU, Dept Mech Engn, C Alameda Urquijo S-N, Bilbao 48013, Spain

[2] Rhein Westfal TH Aachen, Inst Mech Theory Machine Dynam & Robot, Steinbachstr 53b, D-52074 Aachen, Germany

来源：

MECHATRONICS | 2018年 / 56卷

关键词：

Dynamic modeling; System identification; Friction; Parallel mechanism; Haptic mechanisms; Mechatronics; INDUSTRIAL ROBOTS; ADAPTIVE-CONTROL; MACHINES; DESIGN;

D O I：

10.1016/j.mechatronics.2018.10.011

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

It is important for the mechatronic design of robotic systems to rely on accurate models. To that end, system identification methods are a convenient tool to obtain the values of the unknown dynamic parameters which play a key role. In this paper, it is investigated the application of the principle of energy equivalence to easily obtain a suitable model for identification of the inertial parameters and friction of planar mechanisms. The methodology here proposed is then applied to the prototype RePlaLink, a 5R haptic mechanism. Experimental data was obtained to carry out the identification, and the results were then validated by using a different trajectory than the one used for the identification of the unknown parameters. It was found that the identified model developed for the mechanism using the herein described methodology, was able to predict the dynamic behavior of the mechanism.

引用

页码：87 / 100

页数：14