Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach

被引：16

作者：

da Silva, Maira M. ^{[1
]}

de Oliveira, Leopoldo P. R. ^{[1
]}

Bruls, Olivier ^{[2
]}

Michelin, Micael ^{[3
]}

Baradat, Cedric ^{[3
]}

Tempier, Olivier ^{[4
]}

De Caigny, Jan ^{[5
]}

Swevers, Jan ^{[5
]}

Desmet, Wim ^{[5
]}

Van Brussel, Hendrik ^{[5
]}

机构：

[1] Univ Sao Paulo, Sao Carlos Sch Engn, Dept Mech Engn, BR-13566590 Sao Carlos, SP, Brazil

[2] Univ Liege, LTAS Vibrat & Identificat Struct Chem Chevreulls, B-4000 Liege, Belgium

[3] FATRONIK France, F-34960 Montpellier, France

[4] LIRMM, UMR 5506 CC477, F-34392 Montpellier, France

[5] Katholieke Univ Leuven, Dept Mech Engn, B-3001 Louvain, Belgium

来源：

MECHANISM AND MACHINE THEORY | 2010年 / 45卷 / 11期

关键词：

Motion planning; Feedforward signal; Flexible multibody systems; Parallel manipulators; DYNAMICS;

D O I：

10.1016/j.mechmachtheory.2010.07.002

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1509 / 1519

页数：11

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