Considering the real-time control of a high-speed parallel robot, a concise and precise dynamics model is essential for the design of the dynamics controller. However, the complete rigid-body dynamics model of parallel robots is too complex for online calculation. Therefore, a hierarchical approach for dynamics model simplification, which considers the kinematics performance, is proposed in this paper. Firstly, considering the motion smoothness of the end-effector, trajectory planning based on the workspace discretization is carried out. Then, the effects of the trajectory parameters and acceleration types on the trajectory planning are discussed. But for the fifth-order and seventh-order B-spline acceleration types, the trajectory will generate excessive deformation after trajectory planning. Therefore, a comprehensive index that considers both the motion smoothness and trajectory deformation is proposed. Finally, the dynamics model simplification method based on the combined mass distribution coefficients is studied. Results show that the hierarchical approach can guarantee both the excellent kinematics performance of the parallel robot and the accuracy of the simplified dynamics model under different trajectory parameters and acceleration types. Meanwhile, the method proposed in the paper can be applied to the design of the dynamics controller to enhance the robot's performance.
A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance
