Trajectory Planning of a Novel 2-DoF High-Speed Planar Parallel Manipulator

Hu, Junfeng; Zhang, Xianmin; Zhan, Jinqing

doi:10.1007/978-3-540-88513-9_22

Cited by 10 publications

(7 citation statements)

References 3 publications

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“…To bring out a minimum-time trajectory for a two-DOF translational PKM in Cartesian space, Huang et al 33 optimized the whole travel time as well as imposing the path jerk limitation as an indispensable constraint condition in order to achieve satisfactory smooth performance. For an unordinary high-speed 2-DOF two-dimensional PKM different from Huang et al, 33 Hu et al 34 proposed an optimal time trajectory planning method using piecewise cubic polynomials in joint space while the inherent dynamic constraints were not taken into full consideration. In general, jerk-level trajectory planning approaches can be frequently employed for addressing the senior complicated trajectory planning problems of traditional manipulators with satisfying stringent continuity requirements and sufficient smooth conditions.…”

Section: Introductionmentioning

confidence: 99%

Minimum-jerk trajectory planning pertaining to a translational 3-degree-of-freedom parallel manipulator through piecewise quintic polynomials interpolation

Ding

2020

Advances in Mechanical Engineering

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This article aims to present a minimum-jerk trajectory planning approach to address the smooth trajectory generation problem of 3-prismatic-universal-universal translational parallel kinematic manipulator. First, comprehensive kinematics and dynamics characteristics of this 3-prismatic-universal-universal parallel kinematic manipulator are analyzed by virtue of the accepted link Jacobian matrices and proverbial virtual work principle. To satisfy indispensable continuity and smoothness requirements, the discretized piecewise quintic polynomials are employed to interpolate the sequence of joints’ angular position knots which are transformed from these predefined via-points in Cartesian space. Furthermore, the trajectory planning problem is directly converted into a constrained nonlinear multi-variables optimization problem of which objective function is to minimize the maximum of the joints’ angular jerk throughout the whole trajectory. Finally, two typical application simulations using the reliable sequential quadratic programming algorithm demonstrate that this proposed minimum-jerk trajectory planning approach is of explicit feasibility and appreciable effectiveness.

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Section: Introductionmentioning

confidence: 99%

Minimum-jerk trajectory planning pertaining to a translational 3-degree-of-freedom parallel manipulator through piecewise quintic polynomials interpolation

Ding

2020

Advances in Mechanical Engineering

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“…The study of high-speed parallel manipulators has been performed, among others, by [10,11]. An approach that enables the servomotor parameters of parallel robots for pick-and-place operations to be estimated in an effective manner, using the singular value decomposition, is proposed by [10].…”

Section: Introductionmentioning

confidence: 99%

“…These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. A method of time optimal trajectory planning is proposed by [11] for a high-speed planar parallel manipulator. That was accomplished by [11] in two main steps.…”

Section: Introductionmentioning

confidence: 99%

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

Silva

Oliveira

Brüls

et al. 2010

Mechanism and Machine Theory

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“…Zhang presented the development of structural dynamic equations of motion for a 3-PRR parallel manipulator with three flexible intermediate links, based on the assumed mode method [2][3]. Hu applied the finite element method to construct an elastodynamic model of planar parallel manipulator, and analyzed the dynamic characteristics [4][5]. However, FE approach is too computationally intensive due to the time-dependent boundary and its complex mode shape.…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression of a High-Speed Flexible Parallel Manipulator Based on Its Inverse Dynamics

2012

2012 Second International Conference on Intelligent System Design and Engineering Application

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For a novel 2-DoF flexible parallel manipulator, its kinematic and vibration control was investigated based on the inverse dynamic model by using sliding mode control. Taking into account the complexity of rigid-flexible coupling effect of the flexible manipulator, the assumed mode method and Lagrange multiplier method were applied to derive the dynamic equations of the system. It is a differential algebraic equation. In order to design conveniently the controller based on the model, the coordinate-partitioned method was used to convert the differential algebraic equations into a secondorder differential one. According to the demand of motion and vibration control, the sliding mode control method was applied to design the controller in order to obtain the desired trajectory and attenuate the elastic deformation of flexible manipulator. The numerical simulation results showed the proposed controller can eliminate the deflections of the midpoint of the flexible part and have a good trajectory track performance. Keywords-flexible parallel manipulator; sliding mode control; assumed mode method; inverse dynamic I.2011 Second International Conference on Intelligent System Design and Engineering Application 978-0-7695-4608-7/11 $26.00

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Trajectory Planning of a Novel 2-DoF High-Speed Planar Parallel Manipulator

Cited by 10 publications

References 3 publications

Minimum-jerk trajectory planning pertaining to a translational 3-degree-of-freedom parallel manipulator through piecewise quintic polynomials interpolation

Minimum-jerk trajectory planning pertaining to a translational 3-degree-of-freedom parallel manipulator through piecewise quintic polynomials interpolation

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

Vibration Suppression of a High-Speed Flexible Parallel Manipulator Based on Its Inverse Dynamics

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