Automatically Generated Parallel Robot System Equations Based on a Hierarchical Software Architecture

Author(s):  
M. Rose ◽  
S. Algermissen ◽  
R. Keimer
2013 ◽  
Vol 454 ◽  
pp. 114-117 ◽  
Author(s):  
Miao Yu ◽  
Xin An

This paper puts forward a multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot. Based on the mechanics model and dynamics equations that are established of the robot, the mechanical characteristics of the end for the grinding are analyzed. By applying the constant load and the functional load on the polishing end, the force and torque diagram for each of the robot arm joint are obtained. In the end, the conclusion that the force and the torque of the first joint is the largest can be obtained and the force of joint can keep the good constancy.


2008 ◽  
Vol 41 (2) ◽  
pp. 12685-12690
Author(s):  
Kwang Koog Lee ◽  
Seong Hoon Kim ◽  
Vitaly Li ◽  
Sun Hee Choe ◽  
Hong Seong Park ◽  
...  

2013 ◽  
Vol 712-715 ◽  
pp. 2264-2267 ◽  
Author(s):  
Miao Yu ◽  
Xin An ◽  
Jing Ji

This paper compiles the program to control the multi-robot polishing system by the ACO (ant colony optimization) mode and adopts the communication protocol between the robots of multi-robot polishing system. Then, based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the blackboard structure. The experiments show that the communication protocol can enforce communication of the computer between the multi--robot. It can achieve the stability and higher instantaneity. It has met the communication needs of the multi-robot.


2011 ◽  
Vol 138-139 ◽  
pp. 68-73 ◽  
Author(s):  
Ke Yi Wang ◽  
Fang Chao Ma ◽  
Meng Hao ◽  
Li Xun Zhang ◽  
Pan Liu

During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate and control the trainer pelvis movement. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tension. The experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.


2012 ◽  
Vol 214 ◽  
pp. 919-923
Author(s):  
Jing Zhang ◽  
Bai Lin Li

The paper aims to apply the idea of multidisciplinary design optimization to the design of robot system. The main idea of collaborative optimization is introduced. The collaborative optimization frame of 3-RRS parallel robot is analyzed. With the method of genetic algorithm and Sequential Quadratic Programming, the investigation is made on the executing collaborative optimization of working stroke, driving performance and hydraulic components. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system, and lay a foundation to solve more complex mechanical system.


2018 ◽  
Vol 6 (1) ◽  
pp. 38-42
Author(s):  
Robert L. Williams II ◽  
Jesus Pagan
Keyword(s):  

1998 ◽  
Vol 16 (4) ◽  
pp. 475-482
Author(s):  
Keitaro Hanada ◽  
Takayuki Takahashi ◽  
Eiji Nakano ◽  
Takeshi Miyashita

Author(s):  
Jinwoo Jung ◽  
Jinlong Piao ◽  
Eunpyo Choi ◽  
Jong-Oh Park ◽  
Chang-Sei Kim

Abstract A cable-driven parallel robot (CDPR) consists of an end-effector, flexible lightweight cables, pulleys, winches, and a rigid base frame. As opposed to the rigid links of the traditional serial robots and parallel robots, the flexible lightweight cables allow the CDPR to easily achieve the high speed, heavy payload manipulation, and scalable workspace. Especially, the conventional high-speed pick and place operation can be realized due to the lightweight of its flexible cables. However, the flexibility of the lightweight cables can introduce a considerable vibration problem to the high speed cable robot system. One of main causes can be a cable tension difference between initial pre-tension and winding tension around a drum of the winch-motor actuator. To effectively investigate the effect of the tension around the drum on the high speed manipulation of the cable robot system, the spatial eight-cable high speed cable robot was reduced to the horizontal two cable system. The reduction of the number of the cable enables us to minimize the influences from the other factors such as the cable sagging and the geometric errors. A series of experiments was conducted using the combinations of the low and high initial pre-tensions and low and high tensions around the drum. The experimental results clearly show that the low tension around the drum can cause the vibration problem during the high speed pick and place operation. Also, it demonstrates that securing the drum tension similar to the initial pre-tension can effectively reduce the magnitude of the vibration.


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