Abstract
During high-speed pick-and-place operations, elastic deformations are quite apparent if the mass of the manipulator is low. These irregular deformations are accompanied by vibrations, then errors. Since elastic potential energy reflects elastic deformation, the vibration of the whole manipulator can be controlled well when the elastic potential energy is decreased. In this article, to design manipulators with flexible links for pick-and-place operations, an integrated structure and control design framework is proposed. The dynamic model of a coaxis planar parallel manipulator is obtained by the finite element method, an effective method. A proportional–derivative controller is utilized for this industrial application. Simultaneously, the optimal structural and control parameters are derived by minimizing the elastic potential energy via integrated design, in which actuated systems and accuracies are regarded as constraints. Finally, simulations show that the performance of the parallel manipulator is improved by this design methodology.
Highlights
Pick-and-place operations are needed in industries of electronics, pharmaceutics, foods, and so on
A new integrated design framework based on elastic potential energy is presented in this article
A proportional– derivative (PD) controller is employed in the closed-loop system to verify its effects
Summary
Pick-and-place operations are needed in industries of electronics, pharmaceutics, foods, and so on. In these operations, manipulators must be complete the tasks in short-cycle time.[1] Dynamic performance, takes a critical role in manipulator evaluation and design. An effective way to increase acceleration is to reduce masses of moving parts. It’s noteworthy that mass reduction will eventually cause obvious flexibility effects so that vibrations and errors of manipulators will become severe. In the conventional mechanical design process, structure design and control design are performed separately. This design process has been unable to achieve the demanding requirement in some modern industries. By optimizing structural parameters to suppress vibration, the natural frequency is a widely used index.[2,3,4] To reduce
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