Sensitivity Analysis for Dynamic Characteristic of Flexible Parallel Robots

Author

Zhao-cai, Du ; Yue-qing, Yu ; Li-ying, Su

Author_Institution

Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1151

Lastpage

1156

Abstract

Based on the direct differential method, a sensitivity analysis method for the dynamic characteristic of flexible parallel robots was presented. Compared with finite difference method, the result of sensitivity is more precise. The method can also be used to estimate the numerical value of dynamic characteristic with the perturbation of design parameters, without carrying out Kineto-Elastodynamics analysis. The simulation shows that the method is accurate and efficient. The dynamic characteristic is sensitive to the variation of the cross-sectional area of the framed links, lumped mass attached to links and the thickness of the links. The sensitivity analysis for dynamic characteristic is demonstrated to have significant impact on kineto-elastodynamics synthesis and the optimal design of flexible parallel robots.

Keywords

control system synthesis; elastodynamics; finite difference methods; perturbation techniques; robot dynamics; sensitivity analysis; design parameters; direct differential method; dynamic characteristic; finite difference method; flexible parallel robots; kineto-elastodynamics analysis; optimal design; perturbation; sensitivity analysis; Educational institutions; Finite difference methods; Humanoid robots; Kinematics; Mechanical engineering; Medical robotics; Parallel robots; Payloads; Robot sensing systems; Sensitivity analysis; differential method; dynamic characteristic; flexible parallel robots; sensitivity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340091

Filename

4142028