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Research Papers

A Novel Parameter Optimization Method for the Driving System of High-Speed Parallel Robots

[+] Author and Article Information
Xin-Jun Liu

The State Key Laboratory of Tribology &
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Beijing Key Laboratory of
Precision/Ultra-Precision Manufacturing
Equipments and Control,
Tsinghua University,
Beijing 100084, China
e-mail: xinjunliu@tsinghua.edu.cn

Gang Han

The State Key Laboratory of Tribology &
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: hangang_1990@126.com

Fugui Xie

The State Key Laboratory of Tribology &
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Beijing Key Laboratory of
Precision/Ultra-Precision Manufacturing
Equipments and Control,
Tsinghua University,
Beijing 100084, China
e-mail: xiefg@mail.tsinghua.edu.cn

Qizhi Meng

The State Key Laboratory of Tribology &
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: qizhi_meng@163.com

Sai Zhang

Robot Phoenix,
Shandong 250000, China
e-mail: sai.zhang@robotphoenix.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 8, 2017; final manuscript received April 10, 2018; published online May 31, 2018. Assoc. Editor: Damien Chablat.

J. Mechanisms Robotics 10(4), 041010 (May 31, 2018) (11 pages) Paper No: JMR-17-1385; doi: 10.1115/1.4040028 History: Received November 08, 2017; Revised April 10, 2018

Driving system parameters optimization, especially the optimal selection of specifications of motor and gearbox, is very important for improving high-speed parallel robots' performance. A very challenging issue is parallel robots' performance evaluation that should be able to illustrate robots' performance accurately and guide driving system parameters optimization effectively. However, this issue is complicated by parallel robots' anisotropic translational and rotational dynamic performance, and the multiparameters of motors and gearboxes. In this paper, by separating the influence of translational and rotational degrees-of-freedom (DOFs) on robots' performance, a new dynamic performance index is proposed to reflect the driving torque in instantaneous acceleration. Then, the influence of driving system's multiparameters on robots' driving torque in instantaneous acceleration and cycle time in continuous motion is investigated. Based on the investigation, an inertia matching index is further derived which is more suitable for minimizing the driving torque of parallel robots with translational and rotational DOFs. A comprehensive parameterized performance atlas is finally established. Based on this atlas, the performance of a high-speed parallel robot developed in this paper can be clearly evaluated, and the optimal combination of motors and gearboxes can be quickly selected to ensure low driving torque and high pick-and-place frequency.

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Figures

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Fig. 1

Curves of T−JMeq with each given value of NRT, NMT, and PM

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Fig. 2

Feasible range of combinations of T and JMeq

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Fig. 3

Practical procedure of this driving system parameter optimization method

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Fig. 4

Parallel robot: (a) kinematic scheme and (b) moving platform

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Fig. 5

1/4 section view of distributions of the equivalent mechanic inertia of the robot: (a) distributions on the horizontal planes at z=−700 mm, −620 mm, and −550 mm with 0 deg rotational output; (b) distributions on the horizontal plane at z=−550 mm with −180 deg, 0 deg, and 180 deg rotational output

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Fig. 6

1/4 section view of NEQTopt distributions on the horizontal planes at z=−700 mm, −550 mm with 0 deg rotational output and z=−550 mm with 180 deg rotational output

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Fig. 7

Parameterized performance atlas

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Fig. 8

Comprehensive range of cycle time and driving system parameters for each feasible combination of motors and gearboxes

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Fig. 9

1/4 section view of distributions of the equivalent mechanic inertia: (a) Distributions on the horizontal planes at z=−550 mm and −700 mm with 0 deg rotational output; and (b) distributions on the horizontal plane at z=−550 mm with 180 deg and 0 deg rotational output

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Fig. 10

1/4 section view of distributions of (ri)min at z=−700 mm and −550 mm with 0 deg rotational output and z=−550 mm with 180 deg rotational output

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Fig. 11

Prototype of the high-speed parallel robot

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