Dynamic Modeling and Torque Feedforward based Optimal Fuzzy PD control of a High-Speed Parallel Manipulator

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

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Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Robotica ◽

10.1017/s026357472100062x ◽

2021 ◽

pp. 1-30

Author(s):

Soheil Zarkandi

Keyword(s):

Closed Form ◽

Dynamic Modeling ◽

Dynamic Equation ◽

Parallel Manipulator ◽

Optimization Problem ◽

Dynamic Constraints ◽

Part C ◽

Euler Approach ◽

Three Degree Of Freedom ◽

Spherical Parallel Manipulator

Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

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Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-12-2016-0368 ◽

2017 ◽

Vol 44 (6) ◽

pp. 776-787 ◽

Cited By ~ 4

Author(s):

Chunxia Zhu ◽

Jay Katupitiya ◽

Jing Wang

Keyword(s):

Parallel Manipulator ◽

High Speed ◽

Beam Theory ◽

Parallel Manipulators ◽

Dynamic Responses ◽

Axial Deformation ◽

Content Type ◽

High Performing ◽

Coupling Equations ◽

The Relationship

Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results. Findings The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation. Practical implications Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses. Originality/value This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.

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Concept design and dynamic modeling of a medical parallel manipulator to assist in cardiopulmonary resuscitation

Canadian Conference on Electrical and Computer Engineering, 2005. ◽

10.1109/ccece.2005.1557060 ◽

2006 ◽

Author(s):

Yangmin Li ◽

Qingsong Xu

Keyword(s):

Cardiopulmonary Resuscitation ◽

Dynamic Modeling ◽

Parallel Manipulator ◽

Concept Design

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Integrated optimal design of a high-speed planar parallel manipulator

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406218802601 ◽

2018 ◽

Vol 233 (9) ◽

pp. 2976-2990 ◽

Cited By ~ 1

Author(s):

Zhengsheng Chen ◽

Minxiu Kong

Keyword(s):

Optimal Design ◽

Parallel Manipulator ◽

High Speed ◽

Design Method ◽

Tracking Error ◽

Dimensional Synthesis ◽

Tracking Accuracy ◽

Nsga Ii ◽

Parameters Tuning ◽

Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

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