Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping|Xianlei Shan;Yuhang Li;Haitao Liu;Tian Huang|School of Engineering,The University of Warwick,Coventry CV4 7AL,UK - 期刊导航|首站-论文投稿智能助手|论文发表|论文智能投稿|期刊自助发表推荐|杂志社快速发表|查同导刊-域田数据官方网站

典型文献

Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

文献摘要：

Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maxi-mum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.

文献关键词：

中图分类号：

[1] 医药、卫生（R） / 基础医学（R3） / 病理学（R36） / 病理过程（R364）

[2] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

[3] 自动化技术、计算机技术（TP） / 计算技术、计算机技术（TP3） / 计算机的应用（TP39） / 信息处理(信息加工)（TP391）

作者姓名：

Xianlei Shan;Yuhang Li;Haitao Liu;Tian Huang

作者机构：

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300354,China;School of Engineering,The University of Warwick,Coventry CV4 7AL,UK

文献出处：

中国机械工程学报

引用格式：

[1]Xianlei Shan;Yuhang Li;Haitao Liu;Tian Huang-.Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping)[J].中国机械工程学报,2022(01):62-69

A类：

B类：

Residual,Vibration,Reduction,High,Speed,Pick,Place,Parallel,Robot,Using,Input,Shaping,Because,their,elastic,links,joints,high,speed,parallel,robots,pick,place,operations,inevitably,suffer,from,residual,vibrations,that,significantly,degrade,positioning,accuracy,An,effective,approach,input,shaping,technique,presented,this,paper,suppressing,these,After,addressing,design,principle,shaper,flexible,actuated,robust,optimal,developed,by,considering,configuration,dependent,modes,minimizing,maxi,mum,percentage,effector,allows,good,overall,performance,be,achieved,throughout,entire,workspace,Experimental,results,DOF,SCARA,type,show,dramatically,reduced,dynamic,improved

AB值：

0.648512

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