Trajectory Tracking of Parallel Robot with Compliant Joints

摘要：

　　Dynamic modeling and trajectory tracking of a large range motion parallel robot with compliant joints are presented.The robot system is featured with using compliant joints to transmit energy and motion from the drive link to the passive link in macro-scale.The system model is derived by pseudo-rigid-body model and the dynamic equation is obtained based on Lagrange method.A sliding mode control strategy is designed to eliminate the disturbance caused by compliant joints and inertia parameter perturbation.The S-curve velocity mode is used as the velocity planning method to improve motion precision.Simulation results show that the dynamic model and the control strategy are effective in trajectory tracking control of compliant parallel robot system.

关键词： Parallel Robot Compliant Joints Dynamic Model Trajectory Tracking

作者: Hao Tian Yueqing Yu

作者单位: College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-5

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）