A Method for Estimating Servomotor Parameters of a Parallel Robot for Rapid Pick-and-Place Operations-Reference-Cited by-同舟云学术

A Method for Estimating Servomotor Parameters of a Parallel Robot for Rapid Pick-and-Place Operations

Published:2004-10-06 Issue:4 Volume:127 Page:596-601
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Huang Tian¹,Mei Jiangping¹,Li Zhanxian¹,Zhao Xueman¹,Chetwynd Derek G.²

Affiliation:

1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

2. School of Engineering, Warwick University, Coventry CV4 7AL, United Kingdom

Abstract

By taking a 2-DOF high-speed translational parallel manipulator as an object of study, this paper presents an approach that enables the servomotor parameters of parallel robots for pick-and-place operations to be estimated in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device for the rechargeable battery quality inspection.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/127/4/596/5806496/596_1.pdf

Reference19 articles.

1. Bonev, I. , 2001, “Delta Parallel Robot—The Story of Success,” Newsletter, available at http://www.parallelmic.org

2. Delta, A Fast Robot with Parallel Geometry;Clavel

3. Closed-form Dynamic Equations of the General Stewart Platform Through the Newton-Euler Approach;Dasgupta;Mech. Mach. Theory

4. A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator;Dasgupta;Mech. Mach. Theory

5. A General Strategy Based on the Newton-Euler Approach for the Dynamic Formulation of Parallel Manipulators;Dasgupta;Mech. Mach. Theory

Cited by 55 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Dynamic formulation and inertia fast estimation of a 5-DOF hybrid robot;Scientific Reports;2024-07-27

2. Inertia Matching of Parallel Robots;Research and Application of Cable-Driven and Rigid Parallel Robots;2024

3. Velocity Constraints Based Approach for Online Trajectory Planning of High-Speed Parallel Robots;Chinese Journal of Mechanical Engineering;2022-10-20

4. Dynamic performance evaluation of parallel manipulators and its application in a 5-axis loading device;Multibody System Dynamics;2022-09

5. General Procedure for Servo-Axis Design in Multi-Degree-of-Freedom Machinery Subject to Mixed Loads;Machines;2022-06-08