Evaluation of the power consumption of a high-speed parallel robot  

作　　者：Gang HAN Fugui XIE Xin-Jun LIU 

机构地区：[1]The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China [2]Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China

出　　处：《Frontiers of Mechanical Engineering》2018年第2期167-178,共12页机械工程前沿（英文版）

基　　金：Acknowledgements This work was supported by the National Natural Science Foundation of China （Grant No. 51425501）, and Beijing Municipal Science and Technology Commission （Grant No. Z 171100000817007）. The second author wishes to acknowledge the support of the Alexander von Humboldt Foundation.

摘　　要：An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. After- ward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low- power-consumption workspace is selected for the robot.An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. After- ward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low- power-consumption workspace is selected for the robot.

关 键 词：high-speed parallel robot dynamic model power consumption evaluation method power vector 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN86[自动化与计算机技术—控制科学与工程]