Papers by Keyword: Parallel Robot

Abstract: This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Abstract: The kinematics model of the robot was established, and its structural parameters were studied. Based on coordinate transformation, the inverse solution of the robot was obtained. Its workspace was solved by MATLAB program. Three-dimensional diagram and projection drawing on XY plane of workspace were obtained. In addition, the sorting range various with the different value of Z was studied and obtained. Finally, on the premise of meeting working range of the robot, using the minimum mass of the moving parts as optimization objective, the structural parameters of the sorting robot were optimized using the search method. Simulation results show that the optimized robot can achieve the minimum weight of moving parts and meet the preset sorting range. It is also ensured the sorting flexibility.

Abstract: Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the new-type parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a track planning in its workspace has been carried out, and a model of control system was establish, after that a kind of sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. It is shown that the parallel robot system using the proposed control algorithm does not have the chattering problem. The system has good robustness, and is robust to the uncertainties and disturbance, and has good performance in tracking, and high precision real-time control on this parallel robot is achieved.

Abstract: Step motor features small in the volume, big in the torque and wide in the range of speed. Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a model of control system was establish, after that a kind of fuzzy control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm achieved high precision real-time control on this parallel robot.

Abstract: There are two ways to solve workspace boundary, analytic geometry method and numerical method. In this paper, boundary search method is used to wok out the PPP-δ parallel robot workspace. And the relevant points coordinates and motion displacement of expression S1, S2, S3 is worked out. And the PPP-δ parallel robot graphical workspace is also obtained.

Abstract: This paper mainly describes the development work of the Li-Ion battery sorting equipment based on the Delta-S parallel robot to satisfy the manufacturing requirements. The system functional requirements are analyzed to determine the general framework of the equipment. The parallel robot is detailed designed as the core part. The 3-4-5 times polynomial motion law is adopted to optimize the motion of Delta-S parallel robot. Additionally, the control system based on PLC assisted with motion control module is proposed to realize automation production. The experimental results show that this equipment can meet the needs for sorting efficiency of battery industry, and will have a significant effect on the application of original technology of parallel robot.

Abstract: Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with AC servo-motor driveparallel mechanism, a model of controlling system was established, and a track planning in its working space has been carried out. After that a kind of dynamic sliding mode control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm is good in the system, and achieved high precision real-time control on this parallel robot.

Abstract: This paper presents an adaptive nonlinear controller equipped with a friction estimator for a 6 degree of freedom (DOF) parallel manipulator-steward platform. With the aid of direct adaptive technique and control Lyapunov function method, an adaptive controller is designed to complete the globally adaptive stability of the closed-loop system. The stabilized conditions and corresponding proof are also presented, and the selection method of the controller parameters is proposed. Simulation results are demonstrated in support of the proposed control scheme.

Abstract: A 5-DOF (degree of freedom) parallel robot with redundant actuation is introduced. The force transfer matrix is set up and the influence of redundant actuating force is analyzed with influence coefficients. Based on the conventional Lagrange Equation, the dynamic formulation of this parallel robot with redundant actuation is derived. By taking joint friction into consideration, the redundant driving force optimization is analyzed in detail. This redundant force optimization strategy has been applied to the 5-DOF parallel robot successfully.

Abstract: As the structure of parallel robot is special in general mechanical and electrical systems, its forward kinematics needs to be solved by nonlinear equations. In this paper, for the issue that numerical iterative method requires complex mathematical derivation and programming, and is sensitive to the initial value, a Neuro-fuzzy system is proposed for solving forward kinematics model of parallel robot. Meanwhile, inverse kinematics is used for training database, knowledge representation ability of fuzzy theory and self-learning ability of neural network are combined to overcome the shortcomings that neural network cannot express human language and fuzzy system do not have self-learning ability. In addition, training and generation efficiency of the model can also be improved by reducing the input dimension reasonably. Simulation results have been showed that, in the premise of efficiency, accuracy of forward kinematics model using Neuro-fuzzy system is better than Newton-Raphson iterative method, and has better versatility.