To meet the high-speed requirements on pick-and-place or obstacle avoidance actions of industrial robots, this article puts forward a novel high-speed and smooth transfer control algorithm for spatial elliptic trajectory. For the smooth motion at high speed, a modified S-shaped acceleration/deceleration (ACC/DEC) control algorithm based on a piecewise continuous jerk curve is proposed. With the mathematical model and interpolation point calculation algorithm of spatial elliptic trajectory, the interpolation point information can be obtained. Then, the speed look-ahead algorithm is used to obtain the optimal speed at the switching point for trajectory transfer. From the experiment and simulation of a sorting case, it can be analyzed that the velocity curve turns out to be smoother and the run time reduced by 33.69 %. This transfer algorithm can guarantee the smooth motion for industrial robots and also improve the motion efficiency significantly.
For the dynamic modelling and simulation of planar flexible multibody sysytems containing electromechanical coupling, the corresponding vector bond graph method was proposed. Based on the kinematic relationship of planar flexible multibody systems, the general procedure for modelling planar flexible muItibody systems by vector bond graph is described. The constraint force vectors at joints can be considered as unknown effort source vectors and added to the corresponding O-junctions of the system vector bond graph model, the differential causality in system vector bond graph model can be eliminated completely or mostly. As a result, the unified modelling and simulation for planar flexible muItiybody containing electromechanical coupling is realized.The validity of proposed method is illustrated by a practical example.
In this paper, a new structure of a lower extremity exoskeleton robot is proposed, the knee joint of which adopts a five-link gear mechanism to complete the transmission, thus realizing a multi-center rotational motion at the knee. By establishing the kinematic model and dynamic model of this robot, this paper provides a theoretical analysis of the proposed structure and uses MATLAB to solve the motion trajectory of the ankle joint in the spatial sagittal plane to verify the correctness of the kinematic model. Based on the simulation analysis of the human-machine system model performed in ADAMS, the torque characteristics and rotational speed characteristics of each joint motor deceleration module are solved. Furthermore, the simulation results are compared with the theoretical results to verify the correctness of the dynamic model, and the theoretical basis is provided for the implementation of the concrete prototype experiment of the lower extremity exoskeleton robot. text alignment should be justified. References and Author's Profile must be in Font Size 8, Hanging 0.25 with single line spacing.
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