Mechanism and Robotics

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

  • Xianlei Shan ,
  • Yuhang Li ,
  • Haitao Liu ,
  • Tian Huang
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  • 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300354, China;
    2. School of Engineering, The University of Warwick, Coventry, CV4 7AL, UK

收稿日期: 2020-10-03

  修回日期: 2021-10-20

  网络出版日期: 2022-06-30

基金资助

Supported by National Natural Science Foundation of China (Grant No. 51721003) and State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS–2018–KF-09)

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

  • Xianlei Shan ,
  • Yuhang Li ,
  • Haitao Liu ,
  • Tian Huang
Expand
  • 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300354, China;
    2. School of Engineering, The University of Warwick, Coventry, CV4 7AL, UK

Received date: 2020-10-03

  Revised date: 2021-10-20

  Online published: 2022-06-30

Supported by

Supported by National Natural Science Foundation of China (Grant No. 51721003) and State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS–2018–KF-09)

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.

本文引用格式

Xianlei Shan , Yuhang Li , Haitao Liu , Tian Huang . Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping[J]. Chinese Journal of Mechanical Engineering, 2022 , 35(1) : 16 -16 . DOI: 10.1186/s10033-022-00679-3

Abstract

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.

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