A new dynamic index of parallel robots with flexible links

Author

Li, Haihong ; Yang, Zhiyong ; Mei, Jiangping ; Huang, Tian

Author_Institution

Sch. of Mech. Eng., Tianjin Univ., Tianjin

fYear

2008

fDate

21-24 April 2008

Firstpage

1

Lastpage

5

Abstract

The dynamic analysis of a 2-DOF translational parallel robot with flexible links for high-speed pick-and-place operation was investigated. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. This equation was then transformed into a FEM model. All natural frequencies of the parallel robot were obtained by solving the eigenvalue problem of the governing equation. A new criterion for numerical dynamic performance was investigated which is available for parallel robots with flexible links. This research was based on natural frequencies analysis. The new index was used for dynamic evaluation and optimal design of the pick-and-place robot named Diamond robot.

Keywords

eigenvalues and eigenfunctions; finite element analysis; mobile robots; Diamond robot; Euler-Lagrange method; FEM model; dynamic index; eigenvalue; flexible links; parallel robots; pick-and-place operation; Educational institutions; End effectors; Equations; Frequency; Jacobian matrices; Kinematics; Mechanical engineering; Parallel robots; Power system dynamics; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2008. ICIT 2008. IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1705-6

Electronic_ISBN

978-1-4244-1706-3

Type

conf

DOI

10.1109/ICIT.2008.4608433

Filename

4608433