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21st IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Sun, Weihua Ma, Yue Li, Changrui Li, Bin Zhao, Yansen Liu, Qi Tianjin Univ Technol Sch Mech Engn Tianjin Key Lab Adv Mechatron Syst Design & Intel Tianjin 300384 Peoples R China Tianjin Univ Technol Natl Demonstrat Ctr Expt Mech & Elect Engn Educ Tianjin 300384 Peoples R China

ISBN: (纸本)9798350388084;9798350388077

Focusing on the pick-and-place operation in the electronic, packaging, and other light industries, this paper proposed a new type 3T1R (T-Translation, R-Rotation) highspeed parallel robot with two limbs. Compared with other 4-DOF high-speed parallel robots with four limbs, its structure is simpler while the working space is larger, such that the potential for cheaper usage in the industry is achieved. The robot's kinematic analysis and trajectory planning, including key aspects, are also outlined here. Firstly, the robot's closed-loop constraint equation is established using the vector chain method. The displacement, velocity, and acceleration models are derived, and the Jacobian matrix is obtained. On this basis, the gate shape trajectory is planned using the 3-4-5 polynomial motion rule, such that the displacement, velocity, and acceleration of the driving joint are obtained using the kinematic models above. Ultimately, the accuracy of the kinematic models is confirmed by comparing the theoretical outcomes with the simulations carried out in SolidWorks. The study presented in this paper establishes a firm basis for the dimensional integration and the creation of a physical model of the robot.

关键词： high-speed parallel robot kinematic modeling trajectory planning

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Trajectory planning of a 4-RR(SS)2 high-speed parallel robot

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robotICA 2022年第8期40卷 2666-2682页

作者： Zhang, Huipu Wang, Manxin Lai, Haibin Huang, Junpeng Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Lianyungang Screws Robot Technol Co Ltd Lianyungang 222062 Peoples R China

The trajectory-planning method for a novel 4-degree-of-freedom high-speed parallel robot is studied herein. The robot's motion mechanism adopts RR(SS)(2) as branch chains and has a single moving platform structure. Compared with a double moving platform structure, the proposed parallel robot has better acceleration and deceleration performance since the mass of its moving platform is lighter. An inverse kinematics model of the mechanism is established, and the corresponding relationship between the motion parameters of the end-moving platform and the active arm with three end-motion laws is obtained, followed by the optimization of the motion laws by considering the motion laws' duration and stability. A Lame curve is used to transition the right-angled part of the traditional gate trajectory, and the parameters of the Lame curve are optimized to achieve the shortest movement time and minimum acceleration peak. A method for solving Lame curve trajectory interpolation points based on deduplication optimization is proposed, and a grasping frequency experiment is conducted on a robot prototype. Results show that the grasping frequency of the optimized Lame curve prototype can be increased to 147 times/min, and its work efficiency is 54.7% higher than that obtained using the traditional Adept gate-shaped trajectory.

关键词： high-speed parallel robot trajectory planning Lame curve

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Technology-Oriented Synchronous Optimal Design of a 4-Degrees-of-Freedom high-speed parallel robot

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JOURNAL OF MECHANICAL DESIGN 2020年第10期142卷 103302-1-103302-11页

作者： Han, Gang Xie, Fugui Liu, Xin-Jun Meng, Qizhi Zhang, Sai Tsinghua Univ Dept Mech Engn DME State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Dept Mech Engn DME Tsinghua Univ DME Siemens Joint Res Ctr Adv Robot Beijing 100084 Peoples R China Tsinghua Univ Dept Mech Engn DME Beijing Key Lab Precis Ultraprecis Mfg Equipments State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Dept Mech Engn DME Beijing Key Lab Precis Ultra Precis Mfg Equipment Tsinghua Univ DME Siemens Joint Res Ctr Adv Robot Beijing 100084 Peoples R China Robot Phoenix Jinan 250000 Shandong Peoples R China

Parameters optimization is complicated by various parameters and nonlinear design problems. In this paper, the interaction mechanism of motion/force transmissibility and various parameters on normalized motor torque and speed of a four degrees-of-freedom (4-DOF) high-speed parallel robot is analyzed. Based on this interaction mechanism, evaluation indices of acceleration capacity, speed ability, and adept cycle time are proposed. Through combining these indices with task requirements and technical criteria of driving systems, the technology-oriented constraints are set up and a parameter optimization method is proposed. With this method, the dimensional parameters, driving system specifications, and work pose of the robot have been synchronously optimized to ensure low driving torque and high pick-and-place frequency. This synchronous optimal design method is general and can be further applied to parameter optimization for different types of parallel robots.

关键词： parameters optimal design high-speed parallel robot motion force transmissibility acceleration capacity synchronous optimal design method design methodology design optimization parallel robots robot design

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Evaluation of the power consumption of a high-speed parallel robot

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Frontiers of Mechanical Engineering 2018年第2期13卷 167-178页

作者： Gang HAN Fugui XIE Xin-Jun LIU The State Key Laboratory of Tribology & Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing 100084 China

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. After- ward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low- power-consumption workspace is selected for the robot.

关键词： high-speed parallel robot dynamic model power consumption evaluation method power vector

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Velocity Constraints Based Approach for Online Trajectory Planning of high‑speed parallel robots

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Chinese Journal of Mechanical Engineering 2022年第6期35卷 98-109页

作者： Di Yang Fugui Xie Xinjun Liu State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra‑Precision Manufacturing Equipments and Control Tsinghua UniversityBeijing 100084China

high-speed parallel robots have been extensively utilized in the light ***,the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable operation cannot be ignored during the high-speed reciprocating ***,trajectory planning is essential for efficiency and stability from pick-and-place(PAP)*** paper presents a method for planning the equal-height pick-and-place trajectory considering velocity constraints to improve the PAP efficiency and stability of high-speed parallel *** velocity constraints in the start-and-end points can reduce vibration from picking and placing,making the trajectory more suitable to complex beltline *** on velocity constraints,trajectory optimization includes trajectory smoothness and joint torque to optimize cycle time is carried *** paper proposes an online trajectory optimization *** using back propagation(BP)neural networks,the solution is simplified and can be solved in *** and experiments were carried out on the SR4 parallel *** results show that the proposed method improves the efficiency,smoothness,and stability of the *** paper proposes an online trajectory planning method which is velocity constraints based and can improve the efficiency and stability of high-speed parallel *** work of this research is conducive to finely applying high-speed parallel robots.

关键词： Trajectory planning high-speed parallel robot Velocity constraints BP neural network

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Velocity Constraints Based Online Trajectory Planning for high-speed parallel robots 14th

Velocity Constraints Based Online Trajectory Planning for Hi...

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14th International Conference on Intelligent robotics and Applications (ICIRA)

作者： Yang, Di Xie, Fugui Liu, Xin-Jun Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

ISBN: (纸本)9783030890926;9783030890919

Trajectory planning method is important for stable and efficient sorting operations of robots. In this paper, a method for planning the equal-height picking-and-placing trajectory considering velocity constraint is proposed. The velocity constraint in start/end kinematics parameter makes the trajectory more adaptable to complex production line situations. An online trajectory optimization solution is proposed, which simplifies the solution of optimization problem and achieves the real-time nature of the method by BP neural networks. Simulation results on SR4 parallel robots show the effectiveness of the optimization method. The work done in this paper is of great help to the application of high-speed parallel robots.

关键词： high-speed parallel robot Trajectory planning BP neural network Velocity constraint

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A novel acceleration capacity index based on motion/force transmissibility for high-speed parallel robots

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MECHANISM AND MACHINE THEORY 2018年 126卷 155-170页

作者： Liu, Xin-Jun Han, Gang Xie, Fugui Meng, Qizhi Tsinghua Univ State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Tsinghua Univ DME Siemens Joint Res Ctr Adv Robot Dept Mech Engn DME Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

Dynamic performance evaluation is an open question considering three main challenging issues: (a) how to avoid performance indices physically inconsistent considering different dimensions of translational and rotational performance of parallel robots;(b) how to accurately evaluate the performance of the whole robots considering different capacity of driving motors, active arms and moving platforms;(c) how to understand the inner relationship between the dynamic performance and parameters of robots. In this paper, through matching the driving system with the parallel mechanism, an acceleration capacity index of the whole robot is proposed for high-speed parallel robots with mixed types of DOFs (translations and rotations). From the view of power transmissibility, the comprehensive interaction mechanism of motion/force transmissibility to the acceleration capacity of the robot is analyzed and presented in the proposed index. Thus, the index can measure the acceleration capacity accurately. For validation purpose, this index is applied to acceleration capacity evaluation of a high-speed parallel robot, identifying a suitable workspace to reduce the driving torque. This index is general and can be further applied to parameters optimization for different types of high-speed parallel robots. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Dynamic performance evaluation high-speed parallel robot Acceleration capacity index Power transmissibility

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Design and Control of high-speed parallel robot

Design and Control of High-Speed Parallel Robot

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12th International Conference on Control, Automation and Systems (ICCAS)

作者： Do, Hyun Min Park, Chan Hun Kim, Byung In Chung, Gwang Jo Kyung, Jin Ho Korea Inst Machinery & Mat Dept Robot & Mechatron Taejon South Korea

ISBN: (纸本)9788993215045

In this paper, we develop the high speed parallel robot for handling the solar cell. This research covers the design of the experimental prototype, the design of the control algorithm and the evaluation of the performance of the proposed system. The control method using the feedback and feedforward are developed and applied to each joint of the parallel robot. To improve the performance, both the tracking error and synchronization error are considered. Finally, experiments are conducted to verify the performance.

关键词： high-speed parallel robot feedforward control synchronization error solar cell

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Design and Control of high-speed parallel robot

Design and Control of High-Speed Parallel Robot

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International Conference on Control, Automation and Systems

作者： Hyun Min Do Chan Hun Park Byung In Kim Gwang Jo Chung Jin Ho Kyung Department of Robotics and Mechatronics Korea Institute of Machinery and Materials

ISBN: (纸本)9781467322478

关键词： high-speed parallel robot Feedforward control Synchronization error Solar cell

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