Research on the residual vibration of a parallel robot with limbs of embedding structure based on asymmetric input

doi:10.16731/j.cnki.1671-3133.2018.10.001

Abstract

Abstract: Taking a 3-DOF parallel manipulator with limbs of embedding structures as the research object,a test for residual vibration in the process of start and stop of the mechanism was done based on asymmetric input.Firstly,the joint trajectories at different strokes are determined by adjusting the asymmetric coefficient.Secondly,the asymmetric curve acceleration and deceleration method is used to plan the motor input signal.Lastly build performance detection system to test the performance of the manipulator under different asymmetric inputs.Experimental results show that by adjusting the parameters of asymmetric input can suppress the residual vibration of the end of the manipulator to improve its smooth running.

Key words: limbs of the embedding structures, residual vibration, asymmetric input

CLC Number:

TH12

Qi Kaicheng, Yang Feifei, Zhang Jianjun, Yang Gaowei. Research on the residual vibration of a parallel robot with limbs of embedding structure based on asymmetric input[J]. Modern Manufacturing Engineering, 2018, 457(10): 1-7.

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