Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator [electronic Resource] PDF Download
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Author: Chan, Edmon
Publisher: University of Waterloo
ISBN:
Category :
Languages : en
Pages :
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![Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator [electronic Resource] PDF](https://books.google.com/books/content/images/frontcover/o-4IuAEACAAJ?fife=w80-h100)
Author: Chan, Edmon
Publisher: University of Waterloo
ISBN:
Category :
Languages : en
Pages :
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Author: NanNan Sun
Publisher:
ISBN:
Category :
Languages : en
Pages : 103
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Book Description
Industrial robots and automation technology have advanced rapidly in the last several decades. New types of manipulators that uses parallel mechanisms are becoming more popular due to their high speed and high stiffness. This thesis focuses on a sub-class of parallel manipulators that uses cables to replace rigid links for further increase in speed. The design strategies in this study were expanded from research works by Khajepour. Behzadipour, and Edmon Chan. This thesis presents analysis and development of a new cable-based planar parallel manipulator that is based on a previous prototype built by Edmon Chan.
Author: Yi H. Chen
Publisher:
ISBN:
Category :
Languages : en
Pages : 112
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Author: Ryan Fisher
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 338
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Author: Tobias Bruckmann
Publisher: Springer Science & Business Media
ISBN: 3642319874
Category : Technology & Engineering
Languages : en
Pages : 443
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Book Description
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Author: Forrest Montgomery
Publisher:
ISBN:
Category : Parallel robots
Languages : en
Pages : 222
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Author: Wing-Fung Jacob Cheung
Publisher:
ISBN: 9781361469880
Category :
Languages : en
Pages :
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This dissertation, "Kinematics, Dynamics and Control of High Precision Parallel Manipulators" by Wing-fung, Jacob, Cheung, 張穎鋒, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstracts of thesis entitled Kinematics, Dynamics and Control of High Precision Parallel Manipulators Submitted by Cheung Wing Fung Jacob for the degree of Doctor of Philosophy at The University of Hong Kong in March 2007 End-point positioning accuracy, fast point-to-point motion travel and stable operation are essential in high-precision motion mechanisms for industrial applications such as semiconductor packaging. In this thesis, a high-precision 2-DOF planar parallel manipulator and a 4-DOF spatial parallel manipulator are developed to advance the motion capabilities of traditional XY table and overcome difficulties in the kinematics design and end-point positioning accuracy of existing parallel manipulators. Novel methods of kinematics design and optimization, dynamic modelling and advanced control strategies are integrated in a complete design of the proposed manipulators to achieve high-speed positioning of the end-effector to an accuracy of micrometer unit. Modular design approaches are developed for designing the kinematics structure of the proposed parallel manipulators. In this design process, consideration is given to ensuring that the kinematics design can be realized to the required tolerance using existing mechanical construction technology. A Monte-Carlo simulation method is developed to determine the workspace of the parallel manipulator, and a Jacobian decoupling approach is developed to verify that the workspace of the manipulator is free of internal singularity. Kinematics optimization is performed to suppress the kinematics error magnification effect so that the end-effector positioning accuracy matches the manufacturing tolerance of the linkages. A dynamic model is essential for motion analysis, capability estimation and controller design of the parallel manipulator. The derivation of the dynamic model is simplified using a nested approach whereby the 4-DOF parallel manipulator is decomposed into triangular mechanisms at the actuator level and at the end-effector level, resulting in a high degree of decoupling in the modelling process. Recursive Newton-Euler method is employed to determine the dynamic model. The response of the dynamic model is simulated using sinusoidal force profiles to drive the linear actuators of the manipulator. The results obtained from the kinematics design, optimization and dynamic modelling are used to develop prototypes of the planar and 4-DOF parallel manipulators for the purpose of experimentation. A traditional PID computed-torque controller is first designed for the 2-DOF planar and the 4-DOF parallel manipulators using a model-based approach. In view of the limitations of the computed-torque control method, a robust learning control method is developed to enhance the motion performance by minimizing the settling time and steady-state error of the parallel manipulators. A frequency-domain system identification approach is used to identify the high frequency dynamics of the manipulator. A robust control design method is employed to design a stable, fast tracking-response feedback controller with less sensitivity to high frequency disturbance, with the control parameters determined using genetic algorithm. A Fourier-series based iterative learning controller is added to the feedforward path of the controller to improve the settling time by reducing the dynamic tracking
Author: Cecilia Norton
Publisher: Nova Science Publishers
ISBN: 9781634859264
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
Robots are a key element in current industrial processes, as they can be applied to a number of tasks, increasing both quality and productivity. Traditionally, serial robots have been installed in factories, as their wide operating space allowed them to fulfill a number of tasks. However, due to their high moving mass and single kinematic chain structure, these robots present some disadvantages when high speed, accuracy or heavy load handling tasks have to be executed. Parallel robots provide an interesting alternative to these application fields, as their multiple kinematic chain structure offers increased stiffness, allowing reduced positioning errors, lighter mechanisms and increased load/weight ratios. In this book, Chapter One addresses a new control strategy for parallel manipulators based on L1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustness. Chapter Two focuses on the control of parallel robots. Chapter Three reviews structure synthesis of fully-isotropic two-rotational and two-translational parallel robotic manipulators. Chapter Four reviews the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. Chapter Five analyzes and robustly controls the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach.
Author: Ceccarelli, Marco
Publisher: IGI Global
ISBN: 1466602929
Category : Technology & Engineering
Languages : en
Pages : 442
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Book Description
"This book offers the latest research within the field of service robotics, using a mixture of case studies, research, and future direction in this burgeoning field of technology"--
Author: Xuping Zhang
Publisher:
ISBN: 9780494609019
Category :
Languages : en
Pages : 464
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Book Description
Given the advantages of parallel manipulators and lightweight manipulators, a 3-PRR planar parallel manipulator with three lightweight intermediate links has been developed to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators in electronic manufacturing, such as X-Y tables or gantry robots. Lightweight members are more likely to exhibit structural defection and vibrate due to the inertial forces from high speed motion, and external forces from actuators. Structural flexibility effects are much more pronounced at high operational speeds and accelerations. Therefore, this thesis presents the dynamics and vibration control of a 3-PRR parallel manipulator with three flexible links.Secondly, this thesis presents the investigation on dynamic stiffening and buckling of the flexible links of a 3-PRR parallel manipulator by including the effect of ii longitudinal forces on the modal characteristics. Natural frequencies of bending vibration of the intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator. Dynamic stiffening and buckling of intermediate links is investigated and configuration-dependent frequencies are analyzed. Furthermore, using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight into the design and control of the parallel manipulator with flexible intermediate links.Thirdly, an active vibration control strategy is developed for a moving 3-PRR parallel manipulator with flexible links, each of which is equipped with multiple PZT control pairs. The active vibration controllers are designed using the modal strain rate feedback (MSRF). The amplification behavior of high modes is addressed, and the control gain selection strategy for high modes is developed through modifying the IMSC method. The filters are developed for the on-line estimation of modal coordinates and modal velocity. The second compensator is used to cut off the amplified noises and unmodeled dynamics due to the differentiation operation in the developed controller. The modal coupling behavior of intermediate links is examined with the modal analysis of vibrations measured by the PZT sensors. The error estimation of the moving platform is examined using the measurement of PZT sensors.Finally, an active vibration control experimental system is built to implement the active vibration control of a moving 3-PRR parallel manipulator with three flexible links. The smart structures are built through mounting three PZT control pairs to each intermediate flexible link. The active vibration control system is set up using National Instruments LabVIEW Real-Time Module. Active vibration control experiments are conducted for the manipulator moving with high-speed, and experimental results demonstrate that the vibration of each link is significantly reduced.Firstly, a procedure for the generation of dynamic equations for a 3-PRR parallel manipulator with three flexible intermediate links is presented based on the assumed mode method. The dynamic equations of the parallel manipulator with three flexible intermediate links are developed using pinned-pinned boundary conditions. Experimental modal tests are performed using an impact hammer and an accelerometer to identify the mode shapes, frequencies, and damping ratios of flexible intermediate links. The mode shapes and frequencies, obtained from experimental modal tests, match very well the assumed mode shapes and frequencies obtained based on pinned-pinned boundary conditions, and therefore the dynamic model developed is validated.
