Smooth reverse motion control of 6-DOF hydraulic parallel robot

Author

Likun Peng ; Jia Chen ; Jifeng Xing

Author_Institution

Coll. of Power Eng., Naval Univ. of Eng., Wuhan, China

fYear

2013

fDate

20-22 Dec. 2013

Firstpage

796

Lastpage

805

Abstract

Hydraulic parallel robot is widely applied to motion simulators, whereas the smooth reverse motion of hydraulic parallel robot is quite significant to ensure the verisimilitude of simulators. The maximum static friction and dynamic friction were analyzed by using the LuGre dynamic friction model and Stribeck negative slope effect. The increased pressure caused by motion inertia and the pressure jump caused by asymmetric structure were derived, which both happen in the reverse motion of hydraulic parallel robot. Strategies including control method and structure design to smooth the reverse motion were proposed, and the validity was proved through experiment.

Keywords

friction; hydraulic systems; motion control; robots; 6-DOF hydraulic parallel robot; LuGre dynamic friction model; Stribeck negative slope effect; asymmetric structure; control method; maximum static friction; motion inertia; motion simulators; pressure jump; simulator verisimilitude; smooth reverse motion control; structure design; Acceleration; Equations; Force; Friction; Mathematical model; Parallel robots; Valves; LuGre model; hydraulic impact; hydraulic parallel robot; smooth reverse motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on

Conference_Location

Shengyang

Print_ISBN

978-1-4799-2564-3

Type

conf

DOI

10.1109/MEC.2013.6885168

Filename

6885168