Parameter Estimation for Multibody System Dynamic Model of Delta Robot From Experimental Data

Shehata, Mohamed; Elshami, Mohamed; Bai, Qingshun; Zhao, Xuezeng

doi:10.1016/j.ifacol.2021.10.331

Cited by 6 publications

(2 citation statements)

References 12 publications

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“…The numerical simulation of parallel robots is an attractive topic, mainly using MAT-LAB software (https://en.wikipedia.org/wiki/MATLAB) [23,24] or MATLAB simulation validated by experimental research [25,26].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

2023

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Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative.

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Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

2023

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“…Shehata et al [ 12 ] presented a procedure for parameters estimation in multibody system model of the delta robot. The model was based on Lagrange formulation and elaborated using Matlab Simscape Toolbox.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame

2022

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The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties.

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Robust H-Infinity Control of Delta Parallel Robot with Disturbances

Serrano,

Cardona

2024

Lecture Notes in Networks and Systems

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Parameter Estimation for Multibody System Dynamic Model of Delta Robot From Experimental Data

Cited by 6 publications

References 12 publications

Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame

Robust H-Infinity Control of Delta Parallel Robot with Disturbances

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