Dynamic modeling of flexible-links planar parallel robots

2008 ◽  
Vol 3 (2) ◽  
pp. 232-237 ◽  
Author(s):  
Du Zhaocai ◽  
Yu Yueqing ◽  
Zhang Xuping
Keyword(s):  
Dynamic Modeling ◽  
Parallel Robots ◽  
Flexible Links

Dynamic modeling of parallel robots with flexible platforms

2014 ◽  
Vol 81 ◽  
pp. 21-35 ◽  
Author(s):  
Philip Long ◽  
Wisama Khalil ◽  
Philippe Martinet
Keyword(s):  
Dynamic Modeling ◽  
Parallel Robots

scholarly journals Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism

2016 ◽  
Vol 2016 ◽  
pp. 1-17 ◽  
Author(s):  
Qinghua Zhang ◽  
Xianmin Zhang ◽  
Junyang Wei
Keyword(s):  
Strain Rate ◽  
Vibration Control ◽  
Active Vibration Control ◽  
Elastic Vibration ◽  
Parallel Robots ◽  
Flexible Link ◽  
Flexible Links ◽  
Rate Feedback ◽  
Active Vibration ◽  
General Motion

An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme  suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.

An Effective Approach to Model Parallel Robots With Flexible Links

2021 ◽  
Author(s):  
Brillarelli Stefano ◽  
Matteo-Claudio Palpacelli
Keyword(s):  
Software Architecture ◽  
Parallel Manipulator ◽  
Path Following ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Flexible Links ◽  
Model Based Control ◽  
High Acceleration ◽  
Control Schemes ◽  
Pick And Place

Abstract This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.

Dynamic modeling of spatial manipulators with flexible links and joints

2000 ◽  
Vol 75 (4) ◽  
pp. 419-437 ◽  
Author(s):  
Mehrdad Farid ◽  
Stanislaw A. Lukasiewicz
Keyword(s):  
Dynamic Modeling ◽  
Flexible Links

Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links

2010 ◽  
Vol 17 (2) ◽  
pp. 323-331 ◽  
Author(s):  
Shan-zeng Liu ◽  
Yue-qing Yu ◽  
Zhen-cai Zhu ◽  
Li-ying Su ◽  
Qing-bo Liu
Keyword(s):  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Modeling And Analysis ◽  
Flexible Links

Dynamic Analysis of a Parallel Pick-and-Place Robot With Flexible Links

2008 ◽  
Author(s):  
Haihong Li ◽  
Zhiyong Yang
Keyword(s):  
High Speed ◽  
Dynamic Performance ◽  
Lithium Ion ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Modeling And Analysis ◽  
Flexible Links ◽  
Pick And Place ◽  
Floating Frame ◽  
Pick And Place Operation

The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.

Sign in / Sign up

Export Citation Format

Share Document