Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach

Silva, Maíra Martins da; Oliveira, L.; Brüls, Olivier; Michelin, Micaël; Baradat, Cédric; Tempier, Olivier; Caigny, Jan De; Swevers, Jan; Desmet, Wim; Brussel, Hendrik Van

doi:10.1016/j.mechmachtheory.2010.07.002

Cited by 20 publications

(17 citation statements)

References 21 publications

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“…When the moving platform translates or rotates in the work space, the driving torques related to the external forces can be obtained from equation (33) …”

Section: Driving Torque Indexmentioning

confidence: 99%

Dynamic performance evaluation for a 3UPS-PRU parallel robot

Zhao

2016

International Journal of Advanced Robotic Systems

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This article deals with the methodology of the kinematic and rigid-body dynamic performance evaluation of the 3UPS-PRU (the underlined P denotes an actuating prismatic joint) parallel robot. The maximum input velocity index, the maximum driving torque index, and the maximum driving power index are formulated based on kinematic and rigid-body dynamic model, the theory of matrix norm and inequality. The physical meanings of the indices are the maximum input velocity, the maximum driving torque, and the maximum driving power, respectively, when the moving platform translates along the z-axis in the maximum linear acceleration a max , rotates about an arbitrary axis in the maximum angular acceleration max , translates along the z-axis in the maximum linear velocity v max , and rotates about an arbitrary axis in the maximum angular velocity v max . Employing the worstcase criterion, the example of the kinematic and rigid-body dynamic performance evaluation of the 3UPS-PRU parallel robot is carried out using the presented indices. It is shown that the distribution trends of the maximum driving torque and the maximum driving power are roughly the same for the 3UPS-PRU parallel robot. The conclusions are provided at the end of the article.

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“…When the moving platform translates or rotates in the work space, the driving torques related to the external forces can be obtained from equation (33) …”

Section: Driving Torque Indexmentioning

confidence: 99%

Dynamic performance evaluation for a 3UPS-PRU parallel robot

Zhao

2016

International Journal of Advanced Robotic Systems

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“…2) Optimization of the pick-and-place trajectory, avoiding inflection points in the higher successive position derivatives [6], [11]; 3) Active vibration control during the trajectory by means of the motor magnetic moments [7], [21]; 4) Active vibration control during the trajectory by means of piezoelectric actuators [13], [14]. This case is of particular interest when the vibrations may induce hazardous consequences to the robot during the trajectory; 5) Active vibration control at the stop positions by means of piezoelectric actuators [15], [25], [29].…”

Section: Introductionmentioning

confidence: 99%

Identification and Vibration Attenuation for the Parallel Robot Par2

Douat

Queinnec

García

et al. 2014

IEEE Trans. Contr. Syst. Technol.

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Par2 is a two-degree-of-freedom parallel robot designed for high-speed and high-accuracy industrial pick-andplace operation tasks. As a result of the high acceleration trajectories, the end-effector undergoes some undesirable vibrations after reaching the stop positions, compromising its precision and leading therefore to an increase in the operation cycle time. Accelerometer sensors placed on the end-effector and piezoelectric patch actuators wrapped around the robot arms are employed in order to actively reduce these vibrations in a non-collocated closed-loop setting. After submitting the robot to an identification procedure, the obtained nominal model is used to synthesize a reduced order controller with the H ∞ Loop Shaping technique. Performance analysis as well as simulation and experimental results exhibit that vibration reduction is achieved around the nominal operating point, but fails for some extreme operating points, due to high control efforts. An antiwindup strategy is then employed to deal with the saturation of the actuator, which allows to achieve vibration attenuation on the whole operation domain, for a given configuration of the robot at the stop point.

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“…Clavel (1988) foi pioneiro no estudo de manipuladores paralelos com capacidade de velocidades mais elevadas. A aplicação mais promissora na área industrial a essa arquitetura, é a tarefa de pega-e-põe na área alimentícia, farmacêutica e indústrias eletrônicas (da Silva et al, 2010;da Silva e Gonçalves, 2013).…”

Section: Contextualizaçãounclassified

Estudo do impacto da variabilidade geométrica no comportamento cinemático e dinâmico de manipuladores robóticos paralelos com redundância cinemática

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Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach

Cited by 20 publications

References 21 publications

Dynamic performance evaluation for a 3UPS-PRU parallel robot

Dynamic performance evaluation for a 3UPS-PRU parallel robot

Identification and Vibration Attenuation for the Parallel Robot Par2

Estudo do impacto da variabilidade geométrica no comportamento cinemático e dinâmico de manipuladores robóticos paralelos com redundância cinemática

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