Journal ArticleDOI
Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment
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TLDR
In this article, a 3-DOF planar parallel manipulator with two kinematic chains connecting the moving platform to the base can reduce interference while still maintaining 3 DOF.Abstract:
The paper deals with the workspace and dynamic performance evaluation of the PRR-PRR parallel manipulator in spray-painting equipment. Functional workspace of planar fully parallel robots is often limited because of interference among their mechanical components. The proposed 3-DOF planar parallel manipulator with two kinematic chains connecting the moving platform to the base can reduce interference while still maintaining 3 DOFs. Based on the kinematics, four working modes are analyzed and singularity is studied. The workspace is investigated and the inverse dynamics is formulated using the virtual work principle. The dynamic performance evaluation indices are designed on the basis of maximum and minimum magnitude of acceleration vector of the moving platform produced by a unit actuated force. The index not only can evaluate the accelerating performance of a manipulator, but also can reflect the isotropy of accelerating performance. Workspace and dynamic performances of the four working modes are compared and the optimal working mode for the painting of a large object with conical surface is determined. HighlightsFour working modes are analyzed and the optimal mode for painting a long rocket fairing with conical surface is determined.Dynamic performance indices are designed on the basis of acceleration vector of the moving platform produced by a unit actuated force.The index not only can evaluate the accelerating performance, but also can reflect the isotropy of accelerating performance.read more
Citations
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Journal ArticleDOI
Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool
TL;DR: In this paper, the authors derived a mechatronics model by using bond graph and the elastic deformation of the link with the lowest stiffness is considered in modeling and investigated the forced vibration induced by motion command input and cutting forces.
Journal ArticleDOI
Design of the parallel mechanism for a hybrid mobile robot in wind turbine blades polishing
TL;DR: The design of the 1T2R parallel mechanism lays the foundation for the development of the hybrid mobile robot, and the configuration design and parameter optimization in this paper can be further applied to the design of other parallel mechanisms.
Journal ArticleDOI
Accurate dynamic modeling and control parameters design of an industrial hybrid spray-painting robot
TL;DR: The experimental and test results show that the position and velocity accuracy of the robot is improved significantly when the control system is designed by using the method proposed in this paper, which proves the effectiveness of the proposed method.
Journal ArticleDOI
Hybrid active/passive force control strategy for grinding marks suppression and profile accuracy enhancement in robotic belt grinding of turbine blade
TL;DR: An active force control method consisting of force/positon and PI/PD controller based on six-dimensional force/torque sensor is introduced to eliminate the grinding marks and traces, and a passive force control Method is proposed to reduce the over- and under-cutting phenomenon in robotic machining system.
Journal ArticleDOI
An Approach to Formulate the Hessian Matrix for Dynamic Control of Parallel Robots
Tao Sun,Shuofei Yang +1 more
TL;DR: The acceleration model formulated in this paper is closely related with the topological and parametric models, resulting in a unified mathematical framework for modeling and control of parallel robots.
References
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BookDOI
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
TL;DR: In this article, the authors deal with robots such as remote manipulators, multifingered hands, walking machines, flight simulators, and wheeled vehicles that rely on mechanical systems to perform their tasks.
Journal ArticleDOI
Inertial properties in robotic manipulation: an object-level framework
TL;DR: A unifying framework for the analysis and control of robotic systems is produced, beginning with an analysis of inertial prop erties based on two models that independently describe the mass and inertial characteristics associated with linear and angular motions.
Proceedings 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
A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design
TL;DR: In this article, a new approach to the geometrical representation of manipulator dynamics is presented, where the inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a general ellipssoid for a series of rigid bodies in order to represent the manipulators dynamics.
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