Title :
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
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;
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
DOI :
10.1109/ROBIO.2006.340091
