Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

Chinese Journal of Mechanical Engineering

Xianlei Shan¹  Yuhang Li¹  Haitao Liu¹  Tian Huang² 

[1] Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 300354, Tianjin, China;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 300354, Tianjin, China;School of Engineering, The University of Warwick, CV4 7AL, Coventry, UK;

关键词: Pick-and-place parallel robot;    Residual vibration reduction;    Input shaping;   

DOI  :  10.1186/s10033-022-00679-3

来源: Springer

【 摘 要 】

Because of their elastic links and joints, high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy. An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots. After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints, a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector. The input shaper allows a good overall performance to be achieved throughout the entire workspace. Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.

【 授权许可】

CC BY