Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping  

作　　者：Xianlei Shan Yuhang Li Haitao Liu Tian Huang 

机构地区：[1]Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300354,China [2]School of Engineering,The University of Warwick,Coventry CV47AL,UK.

出　　处：《Chinese Journal of Mechanical Engineering》2022年第1期62-69,共8页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.51721003);State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS–2018–KF-09)。

摘　　要：Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.

关 键 词：Pick-and-place parallel robot Residual vibration reduction Input shaping 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]