Evaluation of the power consumption of a high-speed parallel robot

被引：15

作者：

Han, Gang ^{[1
,2
]}

Xie, Fugui ^{[1
,2
,3
]}

Liu, Xin-Jun ^{[1
,2
,3
]}

机构：

[1] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China

[2] Tsinghua Univ, Dept Mech Engn, Inst Mfg Engn, Beijing 100084, Peoples R China

[3] Tsinghua Univ, Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China

来源：

FRONTIERS OF MECHANICAL ENGINEERING | 2018年 / 13卷 / 02期

基金：

中国国家自然科学基金;

关键词：

high-speed parallel robot; dynamic model; power consumption; evaluation method; power vector; OPTIMAL-DESIGN; MANIPULATOR; DYNAMICS; MACHINE; TORQUE;

D O I：

10.1007/s11465-017-0456-8

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.

引用

页码：167 / 178

页数：12

共 33 条

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Asada H., 1984, International Conference on Robotics, P94

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