| Structural design, analysis and performance evaluation of a novel planar parallel robot： theory and experiment |
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| 引用本文： | Ding Qinyong （丁庆勇） Sun Lining Liu Xinyu Ji Junhong. Structural design, analysis and performance evaluation of a novel planar parallel robot： theory and experiment[J]. 高技术通讯(英文版), 2005, 11(3): 229-234 |
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| 作者姓名： | Ding Qinyong （丁庆勇） Sun Lining Liu Xinyu Ji Junhong |
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| 作者单位： | [1]Robotics Institute, Harbin Institute of Technology, Harbin 150001, P. R. China |
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| 基金项目： | Supported by the High Technolgy Research and Development Programme of China （No.2003AA404060）. |
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| 摘 要： | The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis （FEA） and flexible dynamics is employed in the analysis. The appropriate natural frequencies of robot throughout workspaee are predicted, and the effects of payload, flexibility of joints, cross section and orientations of robot on the natural frequency are analyzed by simulation. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the workspace. The experiment also proves the robot＇s performance under a fuzzy self-tuning PI controller.
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| 关 键 词： | 机器人技术 结构分析 有限元分析 自然频率 |
| 收稿时间： | 2004-09-07 |
Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment |
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| Ding Qingyong,Sun Lining,Liu Xinyu,Ji Junhong. Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment[J]. High Technology Letters, 2005, 11(3): 229-234 |
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| Authors: | Ding Qingyong Sun Lining Liu Xinyu Ji Junhong |
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| Abstract: | The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis (FEA) and flexible dynamics is employed in the analysis. The appropriate natural frequencies of robot throughout workspace are predicted, and the effects of payload, flexibility of joints, cross section and orientations of robot on the natural frequency are analyzed by simulation. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the workspace. The experiment also proves the robot's performance under a fuzzy self-tuning PI controller. |
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| Keywords: | parallel robot structural analysis finite element analysis (FEA) natural frequency fuzzy PI control |
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