Performance simulation and energetic analysis of TBot high-speed cable-driven parallel robot

2021 ◽  
pp. 1-14
Author(s):  
Jinhao Duan ◽  
Zhufeng Shao ◽  
Zhaokun Zhang ◽  
Fazhong Peng
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
High Speed ◽  
Low Cost ◽  
Parallel Robot ◽  
Industrial Applications ◽  
Parallel Robots ◽  
Dynamics Modeling ◽  
Serial Robots ◽  
Key Issues

Abstract Compared with serial robots, parallel robots have the advantages of high stiffness and good dynamics. By replacing the rigid limbs with cables, the cable-driven parallel robot (CDPR) is greatly simplified in structure and lightweight. We designed a high-speed CDPR tensioned by the passive rod and spring, named TBot. The robot can realize the SCARA movement as the classical Delta parallel robot. Comparison analysis of TBot and Delta is carried out to reveal the natures of the CDPRs and rigid parallel robots, identify the key issues, and promote industrial applications. Based on kinematics and dynamics modeling, performances are analyzed with simulation under a typical Adept Motion trajectory. Results illustrate that TBot has advantages of low cost, low inertia, low energy consumption and adjustable workspace and has great application potential. Energy consumption of the TBot is discussed and the trajectory planning is studied with the genetic algorithm to further reduce the energy consumption, considering the influence of the passive spring. Finally, on the basis of 30% less energy consumption for the Adept Motion than Delta, extra 14.3% energy consumption is saved through the trajectory planning of TBot.

scholarly journals A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

2021 ◽  
Vol 104 (4) ◽  
pp. 003685042110630
Author(s):  
Jinlu Ni ◽  
Jiangping Mei ◽  
Weizhong Hu
Keyword(s):  
Rigid Body ◽  
Trajectory Planning ◽  
High Speed ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Rigid Body Dynamics ◽  
Model Simplification ◽  
Hierarchical Approach ◽  
Dynamics Model ◽  
Body Dynamics

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.

Reducing energy consumption via trajectory planning method for delta high-speed parallel manipulator

2019 ◽  
pp. 002072091989420
Author(s):  
Cheng Liu ◽  
Guohua Cao ◽  
Yongyin Qu
Keyword(s):  
Energy Consumption ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
High Speed ◽  
Polynomial Interpolation ◽  
Parallel Robot ◽  
Joint Space ◽  
Degree Polynomial ◽  
Operating Space ◽  
Motion Characteristics

This paper selects delta high-speed parallel robot with three degrees of freedom as the research object. The trajectory planning strategies of Cartesian space and angular displacement, angular velocity and angular acceleration of three joints in high-speed handling are studied. Firstly, the critical trajectory points starting point and end point, and points for obstacle avoidance height are set up, and then according to the inverse kinematics model of the robot, a point-to-point “door” type moving trajectory is established, and the mapping relationship between the motion characteristics of the operating space and the motion characteristics of the joint space is established by using the 4-3-4 degree polynomial motion law in the operating space. However, aiming at the higher energy consumption of 4-3-4 degree polynomial interpolation caused by longer the trajectory, and difficult control of obstacle avoidance height, one key point is added. Thereby, the motion rules are interpolated by 4-3-3-4 degree polynomial interpolation, and the mapping relationship between the motion characteristics of the operating space and the motion characteristics of the joint space is established. Two trajectory planning methods are simultaneously simulated under the same keys points and the same trajectory time range. The motion characteristics of the joint rotation angle of the parallel robot between polynomial interpolations are respectively compared. The results show that the trajectory planning method based on 4-3-3-4 degree polynomial interpolation in joint space has obvious advantages in improving the running state of the delta parallel robot and reducing the energy consumption of the system.

On Force and Motion Control of Serial-Parallel Robots

1996 ◽  
Author(s):  
Shih-Liang Wang
Keyword(s):  
Control Algorithm ◽  
Virtual Work ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Joint Torque ◽  
Compact Structure ◽  
Serial Robots ◽  
S Matrix ◽  
Serial Robot ◽  
Rate Control Algorithm

Abstract A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, and it can be used to interpret singularity. MATLAB is used to verify these control algorithms with graphical motion animation.

Modelling and Simulation of a Isoglide T3R1 Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 457-462
Author(s):  
Dan Verdes ◽  
Radu Balan ◽  
Máthé Koppány
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Implementation ◽  
Medical Robots ◽  
The Past ◽  
And Control ◽  
Workspace Design ◽  
Human Systems

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

Influence of the Manufacturing Accuracy of the Planetary Cycloid Gear on the Positioning Accuracy of the Parallel Robot

2021 ◽  
pp. 13-21
Author(s):  
S.V. Palochkin ◽  
Y.V. Sinitsyna ◽  
K.G. Erastova
Keyword(s):  
High Speed ◽  
Printed Circuit Boards ◽  
Parallel Robot ◽  
Circuit Boards ◽  
Positioning Accuracy ◽  
Printed Circuit ◽  
Serial Robots ◽  
Sequential Structure ◽  
Robot Positioning ◽  
Manufacturing Accuracy

The increased accuracy in high-speed positioning of the parallel robot effector in comparison with that of serial robots with a sequential structure is often the main reason for their use in various modern industries, such as the manufacture of printed circuit boards for microelectronics. However, despite the higher theoretical positioning accuracy, due to the kinematic structure of the parallel robot, in practice this characteristic largely depends on the accuracy of manufacturing individual elements of this mechanism, the most important of which are the gearboxes of the drives of its input pairs. A solution to the urgent problem of determining the effect of the manufacturing accuracy of planetary pinion gearboxes included in the drive of a five-link parallel robot on the positioning accuracy of its output link is proposed. A specific relationship has been determined between the grade of accuracy number of the gear part dimensions and the robot positioning accuracy. The unevenness of the positioning accuracy along the coordinate axes of its working area is revealed. It was found that near the area of certain robot positions the accuracy of its positioning drops sharply.

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

DELTA: a simple and efficient parallel robot

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 105-109 ◽  
Author(s):  
F. Pierrot ◽  
C. Reynaud ◽  
A. Fournier
Keyword(s):  
Inverse Kinematics ◽  
Research Team ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematic Parameters ◽  
Mechanical Structure ◽  
Serial Robots ◽  
École Polytechnique

SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

scholarly journals A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

2017 ◽  
Vol 9 (5) ◽  
Author(s):  
Wei Li ◽  
Jorge Angeles
Keyword(s):  
High Speed ◽  
Screw Theory ◽  
Parallel Robot ◽  
Simple Expression ◽  
Parallel Robots ◽  
Forward Displacement ◽  
Design Variables ◽  
The Subject ◽  
Stewart Gough Platform ◽  
The Given

A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart–Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base. This reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, which admits up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6 × 6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via discretization. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.

Real-Time Validation and Control Environment for Parallel Robot Control Design

2011 ◽  
Author(s):  
A. Zubizarreta ◽  
E. Portillo ◽  
I. Cabanes ◽  
M. Marcos ◽  
Ch. Pinto
Keyword(s):  
High Speed ◽  
High Performance ◽  
Experimental Testing ◽  
Control Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Full Potential ◽  
Control Environment ◽  
High Level ◽  
And Control

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However, exploiting the full potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

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