Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun

doi:10.1007/s11465-018-0471-4

Cited by 23 publications

(7 citation statements)

References 28 publications

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“…[39][40][41] The mobile robot system with mobile platform, serial mechanical arm and end operator is often used in noncontact or small contact force working conditions, such as polishing, spraying, welding, grasping. 42,43 In addition, the parallel/hybrid robots 44,45 are also developed with its compact structure and light weight, which has the characteristics of re-configurable, high dynamic response, and low mobile mass. Thus, the parallel robots can achieve multi axis motion and have high stiffness to withstand large loads.…”

Section: Clamping Devicesmentioning

confidence: 99%

Reviews on the machining and measurement of large components

Guo

2023

Advances in Mechanical Engineering

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The study summarized the characteristics of large board and shaft components. The high-end large machine equipment and clamping devices should be developed in machining for high requirements. Additionally, some non-conventional methods have became a increasing for large components. For measurements, the developing and advanced methods were summarized, and the compensation methods were also complement to realize the high precision and efficiency. If that the component’s size has greatly exceeded the range of the current equipment, the mobile equipment are recommended for machining and measurement, and its detection technology is developed essentially for multiple mobile ones. Thus the study has guiding significance for achieving the high-precision and efficiency machining and measurement for large components, which is a great need in related industries.

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Section: Clamping Devicesmentioning

confidence: 99%

Reviews on the machining and measurement of large components

Guo

2023

Advances in Mechanical Engineering

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“…The other is the dynamic response delay of the robotic simulator, which is difficult to be modelled, owing to the tremendous complexity of a robotic facility. In order to reduce the dynamic response delay as far as possible, some existing HIL simulation systems [10,11,16] have adopted parallel kinematic mechanisms (PKMs) with higher rigidity and better dynamic characteristics than their serial counterparts [19]. However, the improvement of dynamic characteristics cannot thoroughly eliminate the simulation divergence.…”

Section: Introductionmentioning

confidence: 99%

A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations

Shen

Gao

2022

Aerospace

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The hardware-in-the-loop (HIL) simulation is an important approach to test space robotic operations, rendering virtual free-floating dynamics on robotic facilities. However, this approach suffers from velocity divergence due to intrinsic time delay in the control loop. This paper proposes a passivity-based control strategy to handle the simulation divergence. A HIL simulation system with an industrial robot is modelled and its divergence problems are analyzed through numerical simulations. Then, through representing the HIL simulation system in a passivity network of view, the passivity observer (PO) of the dynamic system is established. The PO includes the effect of a real contact damping on energy flow of the passivity network during a contact process. Thus, a passivity controller is defined. Moreover, a real-time estimation method for contact damping is presented. Finally, collision experiments against a virtual wall and real collision experiments are both implemented. The experimental results show that the simulation divergence due to the time delay can be prevented by the proposed control strategy, and that the velocity characteristics with high fidelity are rendered on the HIL simulation system.

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“…Parallel robots have effective stiffness and a high load-to-weight ratio. [1][2][3] These advantages explain why they are widely used in industrial fields, such as machine tools, 4 high-speed sorting, 5,6 and motion simulators. 7,8 With an improvement in the industrial level, the requirements of high accuracy and speed tasks for parallel robots have improved considerably.…”

Section: Introductionmentioning

confidence: 99%

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Song¹,

Zhao²,

Chen³

et al. 2021

Robotica

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SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Cited by 23 publications

References 28 publications

Reviews on the machining and measurement of large components

Reviews on the machining and measurement of large components

A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

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