Abstract
The efficiency and accuracy for parallel robot play a significant role in the industrial production process. In order to further improve the motion performance of parallel robot, this paper focuses on the study of mechanism design, dynamic modeling and error analysis of a cable-linkage serial-parallel palletizing robot (CSPR). Firstly, the CSPR is designed as a series-parallel hybrid mechanism driven by flexible cables, which can effectively reduce the inertia and improve the dynamic response. As is known that kinematic design optimization of compliant mechanisms requires accurate yet efficient mathematical models, the kinematics and dynamic models are established by the homogeneous coordinate transformation method and Lagrange equation. Based on the dynamic mathematical model of the robot, a variety of sensors are chosen to construct the hardware control system and the sliding mode variable structure control strategy is also designed based on motion errors. Then, the motion performance and load carrying capacity of the CSPR were analyzed and compared in different operating conditions respectively, and the results verify the validity and efficiency of the mechanism.
Highlights
Palletizing operation is an important and fundamental task for production [1]
In this paper, the mechanical structure and transmission system of a cable-linkage serial-parallel palletizing robot is designed according to conventional series and parallel robots
The DOF of the cable-linkage serial-parallel palletizing robot (CSPR) is calculated to determine the number of driven-cable
Summary
Palletizing operation is an important and fundamental task for production [1]. that is one of the most monotonous and heavy laborious works in the factory. The CSPR, as a combination of series-parallel and cable-linkage driven mechanisms, is a strong nonlinearity, time-varying system, the control process is much more complex [31]. MECHANICAL STRUCTURE The CSPR is a cable-linkage series-parallel hybrid-driven palletizing robot with six degrees. This structure is designed to reduce the working inertia and expand the working space of without reducing the carrying capacity.
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