Accuracy Synthesis of a 3-R2H2S Parallel Robot Based on Rigid-Flexible Coupling Mode

2017 ◽  
pp. 429-440
Author(s):  
Caidong Wang ◽  
Yihao Li ◽  
Yu Ning ◽  
Liangwen Wang ◽  
Wenliao Du
Keyword(s):  
Parallel Robot ◽  
Flexible Coupling ◽  
Coupling Mode

Dynamical Analysis for Mechanical Arm of the Coal Sampling Machine Based on Rigid-Flexible Coupling Model

2012 ◽  
Vol 605-607 ◽  
pp. 1172-1175
Author(s):  
Li Le He ◽  
Rong Li Li
Keyword(s):  
Lagrange Equation ◽  
Coupling Model ◽  
Dynamical Analysis ◽  
Dynamical Equations ◽  
Flexible Coupling ◽  
Body Dynamics ◽  
Coupling Mode ◽  
Flexible Deformation ◽  
Multi Body ◽  
Model Curve

Based on multi-body dynamics theory and the Lagrange equation， the rigid-flexible coupling dynamical equations of the Coal sampling arm was deduced.The rigid-flexible coupling mode is established by combining with Pro/E, ANSYS and ADAMS, and the model curve is gotten by simulation. The simulation results indicate that rigid-flexible coupling modeling is more actual and it is necessary to consider the flexible deformation of all arms when the sampling arm system is researched. The results in this paper presents the theoretical foundation for the sampling arm dynamical analysis and structure optimization.

scholarly journals Rigid-flexible coupling dynamic model of a flexible planar parallel robot for modal characteristics research

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401882346 ◽  
Author(s):  
Lianchao Sheng ◽  
Wei Li ◽  
Yuqiao Wang ◽  
Xuefeng Yang ◽  
Mengbao Fan
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
High Speed ◽  
Control Program ◽  
Parallel Robot ◽  
Elastic Vibration ◽  
Parallel Robots ◽  
Flexible Coupling ◽  
Dynamic Mathematical Model ◽  
Coupling Dynamic

The increasing applications of flexible parallel robots in industrial production have presented the advantages of light weight and high speed, but at the same time, the elastic vibration problem has emerged. By investigating the modal features of flexible parallel robots so as to suppress the elastic vibration, with pinned-pinned as flexible intermediate links boundary conditions, this article analyzes the rigid-flexible coupling dynamic mathematical model of the 3-RRR (3-Rotate-Rotate-Rotate) flexible planar parallel robot with flexible intermediate links. The effect of the extremity concentrated rotation inertia of flexible intermediate links is considered in the mathematical model. Besides, the effect of inertia and coupling force on the dynamic model and the first three-order vibration responses of flexible intermediate links were discussed based on the established model. The corresponding spectrum characteristics were studied using fast Fourier transform. Comparing the frequency characteristics obtained by theoretical model and modal experiment, it was found that the results obtained by the dynamic mathematical model are quite close to the test results. Less dynamic parameters make it convenient to carry out the control program.

scholarly journals Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 7
Author(s):  
Ferdaws Ennaiem ◽  
Abdelbadiâ Chaker ◽  
Juan Sebastián Sandoval Arévalo ◽  
Med Amine Laribi ◽  
Sami Bennour ◽  
...  
Keyword(s):  
Pareto Front ◽  
Parallel Robot ◽  
Elastic Stiffness ◽  
Upper Limb Rehabilitation ◽  
Daily Life Activities ◽  
System A ◽  
The Monte Carlo Method ◽  
Genetic Algorithm Method ◽  
Limb Rehabilitation ◽  
Selection Of

This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot’s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activities, which are tracked using a Qualisys motion capture system. A preliminary architecture of the robot is proposed based on the analysis of the tracked trajectories of all the activities. A multi-objective optimization process using the genetic algorithm method is then performed, where the cable tensions and the robot size are selected as the objective functions to be minimized. The cables tensions are bounded between two limits, where the lower limit ensures a positive tension in the cables at all times and the upper limit represents the maximum torque of the motor. A sensitivity analysis is then performed using the Monte Carlo method to yield the optimal design selected out of the non-dominated solutions, forming the obtained Pareto front. The robot with the highest robustness toward the disturbances is identified, and its dexterity and elastic stiffness are calculated to investigate its performance.

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

scholarly journals Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 215235-215245
Author(s):  
Yuqi Wang ◽  
Qi Lin ◽  
Jiacai Huang ◽  
Lei Zhou ◽  
Jinjiang Cao ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Parallel Robot
Sign in / Sign up

Export Citation Format

Share Document