Motion Programming of High-speed, Flexible-links Parallel Robots

摘要

In view of the fact that the flexible-links parallel robot is an extremely difficult, nonlinear, strong- coupling complicate system which has a bad control property, an investigation was made on resisting robot elastic vibration caused by structural flexibility and high speed motion. On the basis of Kineto-clastodynamics (KED) theory and finite element method, the governing equations of high-speed flexible parallel robot were developed. The elastodynamic response of the flexible parallel robot was calculated. By applying the input motion programming method which will facilitate the design and realization, an effective method was obtained for inhibiting vibration, with which the effect of structural flexibility on position precision can be remarkably reduced. The proper input motion parameters was investigated to efficiently suppress the elastic vibration. With the control scheme, the elastic vibration control of a planar 3-RRR parallel robot with flexible links and rigid moving platform was utilized as an illustrative example. The proper input motions were exerted to reduce the elastic vibration. The simulation results show that the elastic vibrations have been greatly suppressed. The simulation indicates that the control method based on the input motion programming method is feasible and effective for reducing the elastic vibration amplitude of flexible parallel robots.