Abstract
When the two arms of the robot are transporting the heavy loads together, a new parallel mechanism is formed. The actuator input selection and optimization of the parallel mechanism are basic and important problems in mechanism research. In this paper, a 2-RPPPS dual-arm robot is taken as the research object. Firstly, based on the screw theory and input selection principle, 158 reasonable schemes are obtained. Then, an evaluation mechanism is established to screen out the schemes that do not conform to the input selection principle. Then, the end effector of the parallel mechanism moves along two different trajectories. Using the particle swarm optimization algorithm, the inverse kinematics solution of each trajectory is obtained, and the velocity and acceleration of each actuator under different trajectories are obtained. Finally, the motion stability of each actuator is evaluated, and the best scheme is selected. The results show that the best input scheme can be selected according to different trajectories, so as to improve the performance of the parallel mechanism. To the authors’ knowledge, no one has done any research on selecting the appropriate input scheme according to the trajectory of the end effector.
Highlights
After the rapid development of robot technology at the end of the 20th century and the beginning of the 21st century, driven by the market and technology, great progress has been made
E parallel mechanism with two limbs is shown in Figure 1. e surface of the body-mounted manipulator coincides with the horizontal plane, which can be seen as a static platform. e object held by both arms can be regarded as a moving platform. e two platforms are connected by two identical RPPPS limbs
The angular velocity and angular acceleration of the joint are obtained according to the inverse kinematics solution
Summary
After the rapid development of robot technology at the end of the 20th century and the beginning of the 21st century, driven by the market and technology, great progress has been made. E principles that the mechanism can perform three-dimensional rotation and two-dimensional translation are analyzed by using screw theory, the DoF of the mechanism is calculated, and the actuating input selection is discussed. In [6], proper active joints are selected considering the redundancy of the robot, and proper path planning of the robot climbing is performed Based on the former works and authors’ simulations, several value rules of input vectors in the scissor mechanism are performed in [7]. Saharan et al [18] provided an important theory in selecting the actuator configuration and parameters that result in certain actuation performance such as maximum angles and time-domain characteristics in response to input conditions. E reasonability of the actuating input selection of the robot under different trajectories is analyzed. When the two arms grasp the same object, the robot becomes a parallel mechanism with two branches. e reasonability of the actuating input selection of the robot under different trajectories is analyzed. is study provides a theoretical basis for improving the performance of the dualarm robot
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