Title :
A new dynamic index of parallel robots with flexible links
Author :
Li, Haihong ; Yang, Zhiyong ; Mei, Jiangping ; Huang, Tian
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., Tianjin
Abstract :
The dynamic analysis of a 2-DOF translational parallel robot with flexible links for high-speed pick-and-place operation was investigated. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. This equation was then transformed into a FEM model. All natural frequencies of the parallel robot were obtained by solving the eigenvalue problem of the governing equation. A new criterion for numerical dynamic performance was investigated which is available for parallel robots with flexible links. This research was based on natural frequencies analysis. The new index was used for dynamic evaluation and optimal design of the pick-and-place robot named Diamond robot.
Keywords :
eigenvalues and eigenfunctions; finite element analysis; mobile robots; Diamond robot; Euler-Lagrange method; FEM model; dynamic index; eigenvalue; flexible links; parallel robots; pick-and-place operation; Educational institutions; End effectors; Equations; Frequency; Jacobian matrices; Kinematics; Mechanical engineering; Parallel robots; Power system dynamics; Vibration control;
Conference_Titel :
Industrial Technology, 2008. ICIT 2008. IEEE International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1705-6
Electronic_ISBN :
978-1-4244-1706-3
DOI :
10.1109/ICIT.2008.4608433
