A Method for Estimating Servomotor Parameters of a Parallel Robot for Rapid Pick-and-Place Operations

[+] Author and Article Information
Tian Huang, Jiangping Mei, Zhanxian Li, Xueman Zhao

School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

Derek G. Chetwynd

School of Engineering,  Warwick University, Coventry CV4 7AL, United Kingdom

J. Mech. Des 127(4), 596-601 (Oct 06, 2004) (6 pages) doi:10.1115/1.1898343 History: Received January 28, 2004; Revised October 06, 2004

By taking a 2-DOF high-speed translational parallel manipulator as an object of study, this paper presents an approach that enables the servomotor parameters of parallel robots for pick-and-place operations to be estimated in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device for the rechargeable battery quality inspection.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

The 3-DOF hybrid translational robot

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Figure 2

Kinematic model of the Diamond robot

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Figure 3

A device for quality inspection of rechargeable batteries

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Figure 5

Distribution of the angular velocity of the active joint required for producing a unit velocity of the gripper

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Figure 6

Inertia distribution

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Figure 7

Distribution of the torque of the active joint required for producing a unit acceleration of the gripper

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Figure 8

Variations of angular velocity (a), acceleration (b), torque (c), and power (d) of the active joints vs time in one cycle of the pick-and-place operation

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Figure 9

Contributions of the inertial (Acce.), centrifugal, Coriolis (Vel.), and gravitational (Grav.) components to the driving toques of (a) actuated joint 1 and (b) actuated joint 2 in one cycle

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Figure 10

The device for rechargeable battery inspection




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