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Residual vibration reduction of high-speed pick-and-place parallel robot using input shaping
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Shan, Xianlei, Li, Yuhang, Liu, Haitao and Huang, Tian (2022) Residual vibration reduction of high-speed pick-and-place parallel robot using input shaping. Chinese Journal of Mechanical Engineering, 35 (1). 16. doi:10.1186/s10033-022-00679-3 ISSN 1000-9345.
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WRAP-residual-vibration-reduction-high-speed-pick-and-place-parallel-robot-using-input-shaping-Huang-2022.pdf - Published Version - Requires a PDF viewer. Available under License Creative Commons Attribution 4.0. Download (1961Kb) | Preview |
Official URL: https://doi.org/10.1186/s10033-022-00679-3
Abstract
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 maximum 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.
Item Type: | Journal Article | |||||||||
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Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | |||||||||
SWORD Depositor: | Library Publications Router | |||||||||
Library of Congress Subject Headings (LCSH): | Parallel robots, Robotics, Vibration -- Research | |||||||||
Journal or Publication Title: | Chinese Journal of Mechanical Engineering | |||||||||
Publisher: | Springer | |||||||||
ISSN: | 1000-9345 | |||||||||
Official Date: | 23 February 2022 | |||||||||
Dates: |
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Volume: | 35 | |||||||||
Number: | 1 | |||||||||
Article Number: | 16 | |||||||||
DOI: | 10.1186/s10033-022-00679-3 | |||||||||
Status: | Peer Reviewed | |||||||||
Publication Status: | Published | |||||||||
Access rights to Published version: | Open Access (Creative Commons) | |||||||||
Date of first compliant deposit: | 6 April 2022 | |||||||||
Date of first compliant Open Access: | 7 April 2022 | |||||||||
RIOXX Funder/Project Grant: |
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