Journal ArticleDOI
Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot
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TLDR
In this article, the Coefficient of Variation of joint-space Inertia (CVI) index is proposed to illustrate the acceleration consistency of each limb of the parallel manipulator.Abstract:
With the closed-loop structure, parallel manipulators possess some inherent advantages, such as high stiffness, enhanced dynamics, and compact structure. As a result, parallel manipulators gradually gain wide application. In the great variety of parallel manipulators, a kind of high-speed parallel robot, the limb of which is composed of active pendulum and passive parallelogram, gets popular and has realized industrial application firstly. Dynamic performance is the core of the high-speed parallel manipulator, which is usually illustrated through dynamic performance analysis with the aid of the index. Thus, developing reasonable dynamic performance indices is of great theoretical and practical significance for the high-speed parallel manipulator. In this paper, the Coefficient of Variation of joint-space Inertia (CVI) index is proposed to illustrate the acceleration consistency of each limb of the parallel manipulator. By taking the X4 high-speed pick-and-place parallel manipulator as object, the dynamic model and joint-space inertia matrix is established, and the dynamic performance analysis is carried out with the proposed CVI index and the existing Joint-Reflected Inertia (JRI) index. Simulation results illustrate changes of the dynamic performance of the X4 parallel manipulator, and reveal that the JRI index is well complemented with the CVI index. Finally, the workspace with good dynamic performance is discussed. This paper provides a new approach for dynamic analysis and optimal design of high-speed parallel manipulator. Limb Jacobian matrices of the X4 manipulator are given.Dynamic model and inertia matrix of the X4 manipulator are deduced.The CVI index is proposed to evaluate the dynamic performance.Dynamic performance of the X4 mahipulator is analyzed with indices.The workspace with good dynamic performance is disscussed.read more
Citations
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Journal ArticleDOI
Design, analysis and control of a winding hybrid-driven cable parallel manipulator
Bin Zi,Huihui Sun,Dan Zhang +2 more
TL;DR: In this paper, a winding hybrid-driven cable parallel manipulator (WHCPM) was designed and analyzed for precision tracking experiments, and the dynamic control compensation was performed on the basis of the conventional PID controller and the adaptive fuzzy sliding mode controller.
Journal ArticleDOI
Dynamic analysis and driving force optimization of a 5-DOF parallel manipulator with redundant actuation
TL;DR: In this paper, a dynamic model based on Lagrangian method is proposed to optimize the driving torque of the parallel manipulator and calculates the driving force of the redundant driving chain with cutting force.
Journal ArticleDOI
GA\SQP optimization for the dimensional synthesis of a delta mechanism based haptic device design
TL;DR: This paper explains the physical meaning of the condition number of the Jacobian matrix in force domain and uses it as the criteria to evaluate the performance of a mechanism in haptic display and develops a DELTA haptic device using Genetic algorithms and sequential quadratic programming.
Journal ArticleDOI
Kinematic calibration of a 5-axis parallel machining robot based on dimensionless error mapping matrix
TL;DR: An improved method for kinematic calibration of a 5-axis parallel machining robot is proposed, which includes a new forward kinematics solution (FKS) based on dual quaternion and a modified error modeling process leading to dimensionless error mapping matrixes (EMMs).
Book ChapterDOI
Optimal Design of a High-Speed Pick-and-Place Cable-Driven Parallel Robot
TL;DR: This study develops an optimal design of a CDPR with proposed novel transmission indices, which is normalized finite, dimensionally homogeneous, frame-free, and intuitive and can be further adopted in the optimalDesign of other CDPRs.
References
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Journal ArticleDOI
The Stewart platform manipulator: a review
TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.
Journal ArticleDOI
Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots
TL;DR: In this paper, the authors revisited the concepts of Jacobian matrix, manipulability and condition number for parallel robots as accuracy indices in view of optimal design and showed that their real significance is not always well understood.
Book ChapterDOI
Jacobian, manipulability, condition number and accuracy of parallel robots
TL;DR: This work reviews how well kinetostatic performance indices are appropriate for parallel robots and identifies several that are not appropriate for serial robots.
Journal ArticleDOI
Dynamic Manipulability of Robot Manipulators
TL;DR: The concept of dynamic manipulability measure of robot arms is proposed as a quantitative measure of their manipulating ability in positioning and orienting the end-effectors, which takes the arm dynamics into consideration.
Journal ArticleDOI
Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations
TL;DR: In this paper, a 2-DOF version of the Delta robot for pick-and-place operations is presented, which is optimized by minimizing a global and comprehensive conditioning index subject to a set of appropriate constraints.
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