تحلیل دینامیکی یک ربات موازی کروی جدید بر روی بستر متحرک با استفاده از اصل کار مجازی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 گروه مکانیک، دانشکده مهندسی مکانیک، دانشگاه تربیت دبیر شهید رجایی، تهران، ایران

2 دانشکده مهندسی برق، دانشگاه امیرکبیر، تهران، ایران

چکیده

ربات‌های موازی به دلیل مزایای فراوان، مورد توجه بسیاری از صنایع پیشرفته هستند. ولی در بازوهای مکانیکی موازی کروی، علاوه بر فضای کاری محدود، استفاده از عملگرهایی با توان بالا نیز دینامیک و کنترل آن‌ها را با پیچیدگی مواجه می‌کند. لازمه برخی کاربردهای این نوع ربات‌ها، فضای کاری بزرگ و حمل بار زیاد بر روی یک بستر غیرثابت و در حال حرکت می‌باشد. در این مقاله، یک بازوی مکانیکی کروی نو با ساختار 3PUS/S و با سه حرکت دورانی پیشنهاد شده و پس از بررسی سینماتیک، دینامیک آن برای کاربرد در حالات خاص مورد مطالعه قرار می‌گیرد. دوران نامحدود حول محور Z و تحمل بخش اعظم بار توسط مفصل مرکزی، از نقطه نظر سینماتیکی و دینامیکی، این ربات را از ربات‌های کروی دیگر تا حد زیادی متمایز کرده است. در این پژوهش، پس از بررسی روابط سینماتیک بازوی مورد اشاره و ارائه پاسخ تحلیلی برای موقعیت، سرعت و شتاب، به تحلیل روابط دینامیکی ربات روی بستر متحرک پایه، با استفاده از روش کار مجازی پرداخته می‌شود. جهت بررسی صحت روابط، نتایج با شبیه‌سازی در نرم‌افزار آدامز بررسی گردیده که تطبیق قابل قبول این نتایج، صحت روابط را تایید می‌نماید. دوران نامحدود حول محور Z، ثابت بودن شیار حرکتی عملگرها و کاهش تأثیر دینامیکی ناشی از جرم آن‌ها، ثأثیرپذیری کم نسبت به دینامیک لینک‌های ربات، تحمل قسمت استاتیکی بار توسط مفصل کروی مرکزی و کاهش بسیار محسوس توان مورد نیاز حرکتی، از مزیت‌های عمده سازوکار معرفی شده بوده و آن را جهت کاربردهای خاص بسیار جذّاب نموده است.

کلیدواژه‌ها

عنوان مقاله [English]

Dynamic Analysis of a Novel Spherical Parallel Manipulator on the Moving Base Using the Principle of Virtual Work

نویسندگان [English]

  • Hasan Khoshnoodi 1
  • Ali Rahmani Hanzaki 1
  • Heidar Ali Talebi 2
1
2 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
چکیده [English]

Parallel robots are of great interests to many advanced industries due to their lots of advantages. But in the spherical parallel robotic arms, addition to shortcomings of is their limited workspace, using of high power actuators made complexity their dynamics and control. Some applications of these types of robots require large work space and high load capacity on a nonstationary base and during moving. In this paper, a new spherical manipulator with 3PUS/S structure and three rotational movements are suggested and its kinematics and dynamics are studied for special applications. Unlimited rotation about Z axis and most of the load bearing by central joint, have made structure of this robot different from others kinematically and dynamically. In this study,  after extracting the kinematics relations of the mentioned arm giving analytical answers for position, velocity and acceleration, the dynamics of the robot with the base mobile platform is investigated using the principle of virtual work. For checking the accuracy of kinematic and dynamic relationships, results verified by Adams software simulation which Acceptable matching of the results confirms the accuracy of the equations. Unlimited rotation about Z axis, the fixed grooves of actuators motion and the reduction of the dynamic effect due to their mass, low effect of the dynamics of robot links, bearing the static part of the load by the central spherical joint and very noticeable reduction of the required motor power are the main advantages of the introduced mechanism and has made it very attractive for special applications.

کلیدواژه‌ها [English]

  • 3-DoF Spherical Parallel Manipulator
  • Kinematic
  • Dynamic Analysis
  • Moving Base
  • Principle of Virtual Work

Smiley face

مراجع

  1. Lu, Y., Shi, Y., Huang, Z., Yu, J., Li, S., and Tian, X., "Kinematics/statics of a 4-DOF       over-constrained parallel manipulator with 3 legs," Mech. Mach. Theory, Vol. 44, pp. 1497–1506, 2009.##
  2. Xie, F. and Liu, X.-J., "Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity," Front. Mech. Eng. China, journal article, Vol. 11, No. 2, pp. 135-143, 2016.##
  3. Altuzarra, O., Pinto, C., Sandru, B., and Hernandez. A., "Optimal dimensioning for parallel manipulators: workspace, dexterity and energy," J. Mech. Des., Vol. 133, No. 4, pp. 1-7, 2011.##
  4. Shao, P., Wang, Z., Yang, S., and Liu, Z., "Dynamic modeling of a two-DoF rotational parallel robot with changeable rotational axes," Mech. Mach. Theory, Vol. 131, pp. 318-335, 2019.##
  5. Craig, J. J., Introduction to Robotics. New York: Addison-Wesky Publishing Co., 2005.##
  6. Mazare, M., Taghizadeh, M., and Rasool, Najafi, M., "Kinematic analysis and design of a  3-DOF translational parallel robot," Int. J. Autom. Comput.      , journal article, Vol. 14, No. 4, pp. 1-10, 2017.##
  7. Nabavi, S. N., Akbarzadeh, A., and Enferadi, J., "Closed-Form Dynamic Formulation of a General 6-P US Robot," Int. J. Autom. Comput.                , Vol. 96, No. 3-4, pp. 317-330, 2019/02/20.##
  8. Wu, G., Caro, S., Bai, S., and Kepler, J., "Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator," Rob. Auton. Syst., Vol. 62, pp. 1377–1386, 2014.##
  9. Zhang, L., Guo, F., Li, Y., and Lu, W., "Global dynamic modeling of electro-hydraulic         3-UPS/S parallel stabilized platform by bond graph," Chinese J. Mech. Eng., journal article Vol. 29, No. 6, pp.    1176-1185, 2016.##
  10. Cammarata, A., Caliò, I., D׳Urso, D., Greco, A., Lacagnina, M., and Fichera, G., "Dynamic stiffness model of spherical parallel robots," J. Sound Vib., Vol. 384, pp. 312-324, 2016/12/08.##
  11. Chaker, A., Mlika, A., Laribi, M. A., Romdhane, L., and Zeghloul, S., "Synthesis of spherical parallel manipulator for dexterous medical task," Front. Mech. Eng. China, Vol. 7, No. 2, pp. 150-162, 2012.##
  12. Li, T. and Payandeh, S., "Design of spherical parallel mechanisms for application to laparoscopic surgery," Robotica, Vol. 20, No. 2, pp. 133-138, 2002.##
  13. Puglisi, L. J., Saltaren, R. J., Portolés, G. R., Moreno, H., Cárdenas, P. F., and Garcia, C., "Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance," Rob. Auton. Syst., Vol. 61, No. 5, pp. 417-427, 2013.##
  14. Mohammadi Nasrabadi, A. A., Absalan, F., and Moosavian, S. A. A., "Design, modeling and simulation of weight compensation walking assistant robot," Modares Mech. Eng., Vol. 17, No. 5, pp.    41-51, 2017. (In Persian)##
  15. Staicu, S., "Recursive modelling in dynamics of agile wrist spherical parallel robot," Robot. Comput. Integr. Manuf. , Vol. 25, No. 2, pp. 409–416, 2009.##
  16. Liu, X.-J., Jin, Z.-L., and Gao, F., "Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices," Mech. Mach. Theory, Vol. 35, No. 9, pp. 1257-1267, 2000.##
  17. Bidault, F., Teng, C.-P., and Angeles, J., "Structural optimization of a spherical parallel manipulator using a two-level approach," Proc. DETC’01 ASME, Des. Eng. Tech. Conf. Comput. Info. Eng. Conf. Pittsburgh, Pennsylvania, September, 2001.##
  18. Taati, B., Greenspan, M., and Gupta, K., "A Dynamic Load-Balancing Parallel Search for Enumerative Robot Path Planning," J. Intell. Rob. Syst., Vol. 47, No. 1, pp. 55-85, 2006/09/01.##
  19. Azad, F. A., Yazdi, M. R. H., and Masouleh, M. T., "Kinematic and Dynamic Analysis of 3-DOF Delta Parallel Robot Based on the Screw Theory and Principle of Virtual Work," 5th Conf. on KBEI, pp. 717-724, 2019.##
  20. Du, J. and Lou, Y., "Simplified dynamic model for real-time control of the delta parallel robot," IEEE Int. Conf. Inf. Auto. (ICIA), pp. 1647-1652, 2016.##
  21. Jafari Chogan, G., Ghasemi, M. H., and Dardel, M., "Jacobian analysis, dynamic modeling and adaptive control of a cable robot with six degrees of freedom and six cable," Modares Mech. Eng., Vol. 15, No. 4, pp. 391-400, 2015 (In Persian).##
  22. Mazare, M., Taghizadeh, M., and Najafi, M. R., "Dynamic Modeling and Sliding Mode Control of a Three DOF Parallel Robot with 3[P2(US)] Structure," Modares Mech. Eng., Vol. 16, No. 10, pp. 60-68, 2016 (In Persian).##
  23. Khalil, W. and Ibrahim, O., "General Solution for the Dynamic Modeling of Parallel Robots," J. Intell. Rob. Syst., Vol. 49, No. 1, pp. 19-37, 2007/05/01 2007.##
  24. S. Horrian and S. Bahrami, "Estimation of the Payload Mass in DELTA Robot by Using the Motor Torque," J. Aero. Mech., Vol. 16, No. 2, pp. 27-38, 2019 (In Persian).##
  25. Lu, Y., Shi, Y., and Hu, B., "Kinematic analysis of two novel 3UPU I and 3UPU II PKMs," Rob. Auton. Syst., Vol. 56, No. 4, pp.       296-305, 4/30/ 2008.##
  26. Lu, Y., Wang, P., Hou, Z., Hu, B., Sui, C., and Han, J., "Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers," Mech. Mach. Theory, vol. 78, pp. 36-50, 8// 2014.##
  27. Hosseini, M. A., "Kinematic synthesis of a novel rapid spherical CRS/PU parallel manipulator," Mech. Mach. Theory               vol. 93, pp. 26-38, 11// 2015.##
  28. Zeng, R., Dai, S., Xie, W., and Rama, B., "Constraint conditions determination for singularity-free workspace of central symmetric parallel robots," 15th IFAC Symp. inf. cont. prob. manuf., Vol. 48, No. 3, pp. 1930-1935, 2015.##
  29. Arrouk, K. A., Bouzgarrou, B. C., and Gogu, G., "CAD-based unified graphical methodology for solving the main problems related to geometric and kinematic analysis of planar parallel robotic manipulators," Rob. Comput. Integr. Manuf., Vol. 37, pp.          302-321, 2016.##
  30. Wang, Y., Belzile, B., Angeles, J., and Li, Q., "Kinematic analysis and optimum design of a novel 2PUR-2RPU parallel robot," Mech. Mach. Theory, Vol. 139, pp. 407-423, 2019/09/01/ 2019.##
  31. Khoshnoodi, H., Rahmani Hanzaki, A., and Talebi, H. A., "Kinematics, Singularity Study and Optimization of an Innovative Spherical Parallel Manipulator with Large Workspace," J. Intell. Rob. Syst., Vol. 92, No. 2, pp.     309-321, 2018.##
  32. Hou, Y. L., Hu, X. Z., and Zeng, D. X., "Kinematics analysis of a 3-RRR spherical parallel mechanism with coaxial input shafts," App. Mech. Mat., Vol. 404, pp. 237-243, 2013.
    1. Jaghargh, P. V., Naderi, D., and Masouleh, M. T., "Forward kinematic problem of two 4-RRUR with different geometric structures and one 4-RUU parallel robots," Modares Mech. Eng., Vol. 12, No. 4, pp.   105-119 2012. (In Persian)##

 

  1. Khoshnoodi, H., Hanzaki, A. R., and Khoogar, A., "Forward Kinematic Solution of    3-RRR Planner Parallel Robot by ANN," Proc. 21'th Int. Conf. Iranian Mech. Eng., Tehran, 2015 (In Persian).##

 

  1. Sefrioui, J. and Gosselin, C. M., "On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators," Mech. Mach. Theory, Vol. 30, No. 4, pp. 533-551, 1995.##

فایل ها

سابقه مقاله

  • تاریخ دریافت: 24 اسفند 1398
  • تاریخ بازنگری: 02 تیر 1399
  • تاریخ پذیرش: 17 مرداد 1400
  • تاریخ انتشار: 01 مرداد 1400

هم رسانی

ارجاع به این مقاله

آمار