Modal parameter identification of the support frame of the high-speed pick-and-place cable-driven parallel robot

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Wang, Liping^1,2,3 ; Chen, Lian^1,3 ; Shao, Zhufeng^2 ; Li, Haisheng^1 ; Du, Li^1

Advanced Manufacturing Equipment Research Institute, University of Electronic Science and Technology, Chengdu

611731, China^1

Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing

100084, China^2

State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, Beijing

100084, China^3

关键词: Experimental methods;    High-speed motion;    Inertial forces;    Modal parameter identification;    Modal parameters;    Parallel manipulators;    Parallel robots;    Pick-and-place robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042011/pdf
DOI  :  10.1088/1757-899X/452/4/042011

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Parallel manipulators of Delta and Part4 are widely adopted as high-speed, pick-and-place robots. Inertial force generated by high-speed motion has raised the demand for dynamic match between the robot and the support frame. In this study, the proposed high-speed, pick-and-place, cable-driven parallel robot is adopted as the research object. The modal parameters of the support frame are identified via the experimental method, and the first three orders are determined. The mode shape passed the orthogonality matrix check, thereby proving the reliability of the experimental results. This study establishes a foundation for the dynamic match and input filtering control of high-speed, pick-and-place parallel robots.