Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Lin, Chih-Jer; Chen, Chun Ta

doi:10.3390/app6030080

Cited by 6 publications

(8 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To reduce residual vibration at the falling point of the robot end, the proportion of the acceleration time and deceleration time is set as 4:6 in the sextic polynomial motion law, meaning that the maximum velocity is at 2T/5 time when the acceleration is zero, a(2T/5) = 0. Then, the expression of displacement can be described as in Equation (10).…”

Section: • Sextic Polynomial Displacement Planningmentioning

confidence: 99%

“…A reasonable trajectory planning of a robot can help it not only to perform the desired tasks with satisfactory performance [8], but it is also conducive to improving efficiency [9], reducing energy consumption, and extending the operating life [10,11]. At present, there are many studies on robot trajectory planning, such as in [12] (point-to-point dynamic trajectory planning was carried out for six degree-of-freedom (six-DOF) parallel robots, attaining good effects), [13] (point-to-point dynamic trajectory planning was carried out for three degree-of-freedom (three-DOF) parallel robots, also attaining good effects), and [14] (a new s − .. s plane path method was adopted to design a dynamic feasible point-to-point path and periodic trajectories, based on the forces of geometric constraints).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Zhang

Ming

2019

Applied Sciences

View full text Add to dashboard Cite

A study on trajectory planning and optimization for a Par4 parallel robot was carried out, based on energy consumption in high-speed picking and placing. In the end-effector operating space of the Par4 parallel robot, the rectangular transition of the pick-and-place trajectory was rounded by a Lamé curve. A piecewise design method was adopted to accomplish trajectory shape planning for displacement, velocity and acceleration. To make the Par4 robot’s end run more smoothly and to reduce residual vibration, asymmetric fifth-order and sixth-order polynomial motion laws were employed. With the aim of reaching the minimum mechanical energy consumption for the Par4 parallel robot, the recently proposed Grey Wolf Optimizer (GWO) algorithm was adopted to optimize the planning trajectory. The validity of the design method was verified by experiments, and it was found that the minimum mechanical energy consumption of the optimal trajectory planned under the law of fifth-order polynomial motion is lower than that of sixth-order polynomial motion. In addition, the experiments also revealed the optimal values of Parameters e and f, which were the parameters of the Lamé curve function. Parameter e can be calculated as half the pick-up span for the minimum mechanical energy consumption, unlike parameter f, whose optimal value depends on specific circumstances such as the pick-and-place coordinates and the pick-up height.

show abstract

Section: • Sextic Polynomial Displacement Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Zhang

Ming

2019

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The Lagrangian formulation requires the derivatives of the kinetic energy of the whole mechanism, which is very complex in terms of a set of independent generalized coordinates. Other approaches have also been suggested [24][25][26][27]. The principle of virtual work is the most efficient method [28] for the dynamic analysis of parallel manipulators which allows the elimination of the constraint forces and moments at motion equations.…”

Section: Introductionmentioning

confidence: 99%

A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

et al. 2020

View full text Add to dashboard Cite

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.

show abstract

“…ey are inevitable to squeeze and crush materials with high power consumption and low flexibility due to the structural characteristics. Meanwhile, the parallel robot has attracted great attention due to its large payload, high-speed capability, and high stiffness [6][7][8]. It has been widely used in medical equipment, aerospace, marine, and other fields, which greatly promote the development of the industry.…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Shi

Liu

et al. 2020

Journal of Robotics

View full text Add to dashboard Cite

Considering the complexity of multidimension parameters and the mechanical performance of a 6-DOF robotic crusher, a multiobjective optimization function based on the transmission index and condition number is established. As an important operation in the screw theory, the reciprocal product between the transmission wrench screw of an actuator and the output twist screw of the mantle assembly is used to represent the instantaneous power. The expression of transmission index is derived according to the principle that constraint wrench screws apply no work to the mantle assembly. It can be used as a criterion to evaluate the transmission performance. Then, based on the Jacobian matrix, the equation of condition number is constructed which provides a criterion for evaluating kinematic accuracy. Finally, the workspace and singularity of the 6-DOF robotic crusher are analyzed to verify the rationality of the optimized variables. The results show that the optimized structure can completely crush the material in the workspace and effectively avoid singularity, which provides a basis for practical application.

show abstract

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

Cited by 6 publications

References 30 publications

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

Performance Analysis and Optimization of a 6-DOF Robotic Crusher

Contact Info

Product

Resources

About