Dynamics and Optimization of a 2-Dof Parallel Robot with Flexible Links

被引：3
|
作者：
Li, Haihong [1 ]
Yang, Zhiyong [1 ]
Huang, Tian [1 ]
Mei, Hangping [1 ]
机构：
[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
来源：
2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年
关键词：
Dynamics; Elasto-dynamics optimization; Parallel robot; Flexible links;
D O I：
10.1109/WCICA.2008.4593057
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Dynamics analysis and optimization of a 2-DOF parallel robot with flexible links for high-speed pick-and-place operation was investigated. The robot named Diamond robot is composed of two limbs, each essentially consisting of two sets of parallelograms with an elbow in between. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. These equations were then transformed into a FEM model of the whole system. Modal analysis presents the dynamic performance and throws light on elasto-dynamics optimization aimed to manipulate in higher speed with high accuracy. A method to indicate the robot dynamics was built on classified natural frequencies according to their modes. Elasto-dynamics optimization is good effect on improving the dynamics of the robot. The skeleton is universal to dynamics analysts and design of any Pick-and-place robot with flexible links.
引用
收藏
页码：1000 / 1003
页数：4
相关论文
共 50 条
  • [41] Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms
    Yun-Joo Nam
    Myeong-Kwan Park
    Journal of Mechanical Science and Technology, 2006, 20 : 1614 - 1625
  • [42] Calibration of 2-DOF parallel mechanism
    Sato, O
    Hiraki, M
    Takamasu, K
    Ozono, S
    INITIATIVES OF PRECISION ENGINEERING AT THE BEGINNING OF A MILLENNIUM, 2001, : 734 - 738
  • [43] Towards development of a 2-DOF planar parallel robot with optimal workspace use
    Figielski, Alexandre
    Bonev, Ilian A.
    Bigras, Pascal
    2007 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-8, 2007, : 1572 - 1576
  • [44] Performance Optimization of a 2-DoF Parallel Mechanism based on Multiple Indices
    Hao, Qi
    Liu, Bo
    Wang, Mingxin
    Zhou, Jing
    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 1250 - 1255
  • [45] Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms
    Nam, Yun-Joo
    Park, Myeong-Kwan
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2006, 20 (10) : 1614 - 1625
  • [46] A novel 2-DOF planar parallel robot with high accelerate/high precision
    Li, Juan
    Liu, Yanjie
    Sun, Lining
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 2189 - 2193
  • [47] Design and experiment of a 3-DoF master device with a 2-DoF parallel mechanism for flexible ureteroscopy
    Zhao, Jianchang
    Wang, Shuxin
    Wang, Jiatong
    Li, Jinhua
    Cui, Liang
    Li, Jianmin
    INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2023, 19 (01):
  • [48] Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links
    Cervantes-Culebro, Hector
    Enrique Chong-Quero, Jesus
    Axel Padilla-Garcia, Erick
    Cruz-Villar, Carlos Alberto
    IEEE ACCESS, 2021, 9 : 17450 - 17462
  • [49] Rigid vs. flexible links dynamic analysis of a 3DOF parallel robot
    Rati, Nadia Ramona
    Neagoe, Mircea
    2009 3RD IEEE INTERNATIONAL CONFERENCE ON DIGITAL ECOSYSTEMS AND TECHNOLOGIES, 2009, : 248 - 253
  • [50] Reliable home error identification of a 2-DOF parallel robot based on regularization methods
    Mei, Jiangping
    Zang, Jiawei
    Ding, Yabin
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2019, 233 (07) : 2502 - 2515
12345