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17th International Conference on Intelligent robotics and Applications

作者： Sheng, Lingyun Zhao, Xingwei Fan, Yajun Xue, Lei Tao, Bo Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Peoples R China Huazhong Univ Sci & Technol Wuxi Res Inst Wuhan Peoples R China Shanghai Aircraft Mfg Co Ltd Shanghai Peoples R China

ISBN: (纸本)9789819607709;9789819607716

In order to control the end-effector to achieve accurate and suitable posture for high-precision processes in complex industrial environments, amechanism is often added to make secondary adjustment of the tool end posture. The 3-rps parallel connection is widely used for target posture control in small workspaces due to its features of high control accuracy, large load, and small size and mass. In order to avoid the influence of process error and assembly error on the control accuracy of the parallel system, it is necessary to identify its parameters with high accuracy before use. However, the traditional non-contact calibration methods, such as position sensors and cameras, have the disadvantages of complex system, difficult to build, lower accuracy and cumbersome operation. To address the above problems, this paper proposes a non-contact measurement calibration method based on facial laser scanner, and establishes a calibration system based on a self-designed and fabricated 3-rps parallel robot, realizes the high-precision measurement of the overall position and attitude information of the robot through the splicing of multi-segmented point clouds and feature extraction algorithms, establishes an inverse kinematic model of the robot, combines the 3D model with the parameter identification equations, realizes the parallel robot kinematic calibration, and designs the accuracy verification method. The effectiveness of the parameter calibration and the control algorithm of the parallel robot are verified by experiments.

关键词： 3-rps parallel robot Kinematic Calibration Computer Vision

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Kinematics reliability and simulation of 3-rps parallel robot

Kinematics reliability and simulation of 3-RPS parallel robo...

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12th ISSAT International Conference on Reliability and Quality in Design

作者： Sun, Zhili Qiang, Yang Ming, Yan Zhong, Nannan NorthEastern Univ Sch Mech Engn & Automat Shenyang 110004 Peoples R China Shenyang Normal Univ Sch Foreign Languages Shenyang 110004 Peoples R China

ISBN: (纸本)0976348616

According to the forward and inverse kinematics of 3-rps parallel robot. the influences on kinematics reliability of the robot's end effector by length errors of legs and location errors of ball joints are considered together. and a calculation model of kinematics reliability is presented. The simulation study based on ADAMS 12.0 is proposed applying Monte Carlo: A parametric virtual prototype is built up in ADAMS/View;considering that length errors of legs and location errors of ball joints should accord with normal distribution, groups of simulations are run with different distributing values got by random sampling and the relevant results of the robot's end effector are obtained. Degree of reliability (DOR) at any time is finally got by computation through comparison with the ideal value.

关键词： 3-rps parallel robot kinematics reliability Monte Carlo virtual prototype technology errors

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Vision-Based Method of Kinematic Calibration and Image Tracking of Position and Posture for 3-rps parallel robot 14

Vision-Based Method of Kinematic Calibration and Image Track...

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IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Yu, Lingtao Yan, Yusheng Ren, Sixu Zhao, Jiliang Harbin Engn Univ Dept Mech & Elect Engn Harbin Heilongjiang Peoples R China Aerosp Syst Engn Shanghai Shanghai Peoples R China

ISBN: (纸本)9781509067596

parallel robot needs to implement the position and orientation calibration before being put into application, due to errors from manufacture and assembly. Traditional calibration methods with the help of non-contact high-precision measuring devices, such as sensors and three coordinate measuring instrument, possess many drawbacks including difficult installation, system complexity, high cost and low automation. To overcome these issues, this paper presents a non-contact measuring method to realize the kinematic calibration and image tracking of position and posture based on computer vision for the developed 3-rps parallel robot in laboratory. A method of pre-distinguishing feature points region is proposed to combine with PNP algorithm for realizing three-degree-of-freedom (three-DOF) measurement of position and posture under monocular vision. To implement the robotic calibration, the inverse kinematic model and parameter identification equation are established. Then, after modeling of the forward kinematics, a synthesis of the traditional Pyramid-LK algorithm and feature points region prediction method is performed to realize the image tracking, which improves the algorithm accuracy and shortens the response time. The performance of the proposed calibration and image tracking of position and posture for the parallel mechanisms is verified by several experiments.

关键词： 3-rps parallel robot Kinematic calibration Image tracking of position and posture Computer vision

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Accuracy Synthesis of a 3-rps parallel robot Based on Manufacturing Costs

Accuracy Synthesis of a 3-RPS Parallel Robot Based on Manufa...

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31st Chinese Control Conference

作者： Yao Tai-ke Zhou Xi Zhou Feng Zhang Li-min Wang Yong Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun 130033 Peoples R China

ISBN: (纸本)9789881563811

Pose accuracy is an important issue for parallel robot being used as mirror supporting system of telescope. One challenging topic is the accuracy synthesis which deals with the optimal design of the manufacturing and assembling tolerances of each component under the given pose accuracy. First, the error model of the 3-rps parallel robot is built based on total derivation of the kinematic equations. And the error variable of each spherical or rotate joint can be expressed as a single boundary error parameter but not three independent position parameters. Then, the accuracy synthesis model is formulated taking the manufacturing costs as the optimization objective and the accuracy requirements as the constraint condition. Finally, the genetic algorithm is used to solve the optimization problem and a simulation example is given. The results show that the accuracy synthesis method based on manufacturing costs can satisfy the need of pose accuracy and is better for engineering application than the method based on error sensitivity.

关键词： 3-rps parallel robot error model accuracy synthesis manufacturing costs genetic algorithm

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Accuracy Synthesis of a 3-rps parallel robot Based on Manufacturing Costs

Accuracy Synthesis of a 3-RPS Parallel Robot Based on Manufa...

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第三十一届中国控制会议

作者： YAO Tai-ke~1,ZHOU Xi~1,ZHOU Feng~1,ZHANG Li-min~2,WANG Yong~1 1.Department of Automation,University of Science and Technology of China,Hefei 230027 2.Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033

Pose accuracy is an important issue for parallel robot being used as mirror supporting system of *** challenging topic is the accuracy synthesis which deals with the optimal design of the manufacturing and assembling tolerances of each component under the given pose ***,the error model of the 3-rps parallel robot is built based on total derivation of the kinematic equations. And the error variable of each spherical or rotate joint can be expressed as a single boundary error parameter but not three independent position ***,the accuracy synthesis model is formulated taking the manufacturing costs as the optimization objective and the accuracy requirements as the constraint ***,the genetic algorithm is used to solve the optimization problem and a simulation example is *** results show that the accuracy synthesis method based on manufacturing costs can satisfy the need of pose accuracy and is better for engineering application than the method based on error sensitivity.

关键词： 3-rps parallel robot error model accuracy synthesis manufacturing costs genetic algorithm

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Position Analysis of 3-rps parallel robot and Simulation of PID Control Based on Matlab Software

Position Analysis of 3-RPS Parallel Robot and Simulation of ...

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2012 International Conference on Convergence Information Technology(ICCIT 2012)

作者： Chen Yiqiang Zhu Dachang School of Architectural and Surveying & Mapping Engineering Jiangxi University of Science and Technology School of Mechanical & Electrical Engineering Jiangxi University of Science and Technology

Position of the 3-rps parallel robot is analyzed by the method of coordinate transformation and the position closed-form method. Based on Matlab software, the simulation model of this robot is established. With the reference input under different conditions, the simulation comparison is made through setting the parameters of the PID controller in reason to simulate. The results show that under different conditions of reference input, the changes in the position of the moving platform are almost identical, the effect of PID control leveling is realized and the deviation between the actual output of drive shaft displacement and the reference value fluctuates in the allowable range, which show that the control effect is obvious. This provides the information for the study of automatic leveling to the parallel robots.

关键词： 3-rps parallel robot Position inverse solution Matlab simulation PID Control

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Dynamic analysis of multi-functional maintenance platform based on Newton-Euler method and improved virtual work principle

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NUCLEAR ENGINEERING AND TECHNOLOGY 2020年第11期52卷 2630-2637页

作者： Li, Dongyi Lu, Kun Cheng, Yong Zhao, Wenlong Yang, Songzhu Zhang, Yu Li, Junwei Shi, Shanshuang Chinese Acad Sci Inst Plasma Phys Hefei Peoples R China Univ Sci & Technol China Hefei Peoples R China Anhui Extreme Environm Robot Engn Lab Hefei Peoples R China

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established. (C) 2020 Korean Nuclear Society, Published by Elsevier Korea LLC.

关键词： China Fusion engineering test reactor Divertor Multi-functional maintenance platform 3-rps parallel robot Dynamic analysis ADAMS simulation

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