Title :
Smooth reverse motion control of 6-DOF hydraulic parallel robot
Author :
Likun Peng ; Jia Chen ; Jifeng Xing
Author_Institution :
Coll. of Power Eng., Naval Univ. of Eng., Wuhan, China
Abstract :
Hydraulic parallel robot is widely applied to motion simulators, whereas the smooth reverse motion of hydraulic parallel robot is quite significant to ensure the verisimilitude of simulators. The maximum static friction and dynamic friction were analyzed by using the LuGre dynamic friction model and Stribeck negative slope effect. The increased pressure caused by motion inertia and the pressure jump caused by asymmetric structure were derived, which both happen in the reverse motion of hydraulic parallel robot. Strategies including control method and structure design to smooth the reverse motion were proposed, and the validity was proved through experiment.
Keywords :
friction; hydraulic systems; motion control; robots; 6-DOF hydraulic parallel robot; LuGre dynamic friction model; Stribeck negative slope effect; asymmetric structure; control method; maximum static friction; motion inertia; motion simulators; pressure jump; simulator verisimilitude; smooth reverse motion control; structure design; Acceleration; Equations; Force; Friction; Mathematical model; Parallel robots; Valves; LuGre model; hydraulic impact; hydraulic parallel robot; smooth reverse motion;
Conference_Titel :
Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on
Conference_Location :
Shengyang
Print_ISBN :
978-1-4799-2564-3
DOI :
10.1109/MEC.2013.6885168
