Title :
Dynamics and optimization of a 2-Dof parallel robot with flexible links
Author :
Li, Haihong ; Yang, Zhiyong ; Huang, Tian ; Mei, Jiangping
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., Tianjin
Abstract :
Dynamics analysis and optimization of a 2-DOF parallel robot with flexible links for high-speed pick-and-place operation was investigated. The robot named Diamond robot is composed of two limbs, each essentially consisting of two sets of parallelograms with an elbow in between. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. These equations were then transformed into a FEM model of the whole system. Modal analysis presents the dynamic performance and throws light on elasto-dynamics optimization aimed to manipulate in higher speed with high accuracy. A method to indicate the robot dynamics was built on classified natural frequencies according to their modes. Elasto-dynamics optimization is good effect on improving the dynamics of the robot. The skeleton is universal to dynamics analysis and design of any Pick-and-place robot with flexible links.
Keywords :
elastodynamics; finite element analysis; flexible manipulators; manipulator dynamics; modal analysis; optimisation; 2-DOF parallel robot; Euler-Lagrange method; FEM model; diamond robot; dynamics analysis; elasto-dynamics optimization; flexible links; floating reference frame; high-speed pick-and-place operation; modal analysis; pick-and-place robot; robot dynamics; Equations; Frequency; Intelligent control; Jacobian matrices; Mechanical engineering; Medical robotics; Modal analysis; Parallel robots; Robotics and automation; Vibration control; Dynamics; Elasto-dynamics optimization; Flexible links; Parallel robot;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593057
