Dynamic Analysis of a Planar Parallel Robot with the Purpose of Obtaining Optimal Inertial Parameters for Energy Consumption

被引：0
|
作者：
Misaghi, Hooman [1 ]
Mahmoudi, Ali [1 ]
Masouleh, Mehdi Tale [2 ]
机构：
[1] Univ Tehran, Fac New Sci & Technol, Tehran, Iran
[2] Univ Tehran, Sch Elect & Comp Engn, Human Robot Interact Lab, Tehran, Iran
来源：
2017 IEEE 4TH INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED ENGINEERING AND INNOVATION (KBEI) | 2017年
关键词：
Manipulator kinematics; Manipulator dynamics; Base inertial parameters; Energy consumption optimization; Optimal excitation trajectory;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper investigates the dynamic analysis of a 3-DOF parallel robot exhibiting planar motion pattern, by resorting to the principle of virtual work to then end of obtaining an optimal set of dynamic parameters. In order to verify the derived equations, results are compared with simulated model in MSC ADAMS. Furthermore, an optimized trajectory for excitation is calculated and the base inertial parameters are calculated. After that, an optimization method is proposed to fine-tune the robot by adding weights to the links which optimizes the energy consumption of manipulator. This optimization results in more than 50% reduction in the defined cost function on average.
引用
收藏
页码：931 / 936
页数：6
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