收藏本站
收藏 | 手机打开
二维码
手机客户端打开本文

Dynamic modeling and residual vibration suppression of the redundantly-actuated cable driving parallel manipulator

Zhengsheng Chen  Xuesong Wang  
【摘要】:An improved input shaping(IS) scheme was proposed for the redundantly actuated cable driving parallel robots(CDPRs) to suppress the residual vibration(RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordinates considering the axial deformation of cables, and rigid-flexible dynamic model of generalized redundantly actuated CDPRs was established with the Newton-Euler equation and the Newton's law. Then to cope with time-variant vibration frequencies of the CDPRs due to the variable lengths of cables, the technique that combined the one-to three-order zero vibration(ZV) IS with the particle swarm optimization(PSO) and the controller was proposed to suppress the RV. At last, to validate the effectiveness the proposed method, the simulations were carried out in a redundantly actuated CDPR that has six degree-of-freedom CDPR and seven driving cables with the proposed method, the results show that the RVs can be reduced significantly.

知网文化
【相似文献】
中国期刊全文数据库 前19条
1 温银堂;Gao Linqi;Liu Fucai;Qin Li;;Model-free adaptive control of space manipulator under different gravity environment[J];High Technology Letters;2020年01期
2 Chen Wang;Liju Xu;Yan Qiao;Dong Qiu;;Adhesives to empower a manipulator inspired by the chameleon tongue[J];Chinese Chemical Letters;2020年03期
3 Luo Lei;Wei Zhenchun;Jin Aimin;Wang Jinbo;Zhang Li;;The design of automatic loading-and-unloading material manipulator for telescopic punch[J];Computer Aided Drafting,Design and Manufacturing;2016年02期
4 刘善增;朱真才;孙肇鹏;曹国华;;Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator[J];Journal of Central South University;2014年07期
5 蒋志宏;李洪杰;肖涛;袁宝峰;李辉;董悫;魏博;;Design,analysis and control for an antarctic modular manipulator[J];Journal of Beijing Institute of Technology;2013年04期
6 KIM Dong-hyeon;LEE Choon-man;;Development of a one-axis manipulator for laser-assisted machining[J];Journal of Central South University;2013年02期
7 ;Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects[J];Theoretical & Applied Mechanics Letters;2012年06期
8 ZHU Xiaorong;SHEN Huiping;;Optimal design of the link lengths for a planar parallel manipulator[J];Computer Aided Drafting,Design and Manufacturing;2012年04期
9 ;Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix[J];Science China(Technological Sciences);2010年01期
10 ALL-BAIL Mohammed;;Model and characteristic of a new underactuated manipulator and its simulation[J];重庆邮电大学学报(自然科学版);2009年02期
11 罗凌智;张宇;孙增圻;;Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System[J];Tsinghua Science and Technology;2007年05期
12 张秀峰;孙立宁;;Design considerations of high precision 6-HTRT parallel manipulator[J];Journal of Harbin Institute of Technology;2006年03期
13 陈峰,赵锡芳,费燕琼,殷跃红;Singularity-free path planning for parallel manipulator[J];Journal of Harbin Institute of Technology;2004年05期
14 贺怀清,洪炳熔;A new acoustic model used in Chinese order recognition system for space teleoperating manipulator[J];Journal of Harbin Institute of Technology;1999年04期
15 Gang CHEN;Wen GUO;Qingxuan JIA;Xuan WANG;Yingzhuo FU;;Failure treatment strategy and fault-tolerant path planning of a space manipulator with free-swinging joint failure[J];Chinese Journal of Aeronautics;2018年12期
16 杜志江;肖永强;董为;;Method for optimizing manipulator's geometrical parameters and selecting reducers[J];Journal of Central South University;2013年05期
17 孙涛;宋轶民;阎凯;;Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links[J];Journal of Central South University of Technology;2011年03期
18 尤超蓝;洪嘉振;蔡国平;;Modeling Study of Planar Flexible Manipulator Undergoing Large Deformation[J];Journal of Shanghai Jiaotong University;2007年06期
19 ;Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator[J];Progress in Natural Science;2004年11期
中国重要会议论文全文数据库 前20条
1 Zhengsheng Chen;Xuesong Wang;;Dynamic modeling and residual vibration suppression of the redundantly-actuated cable driving parallel manipulator[A];第31届中国过程控制会议(CPCC 2020)摘要集[C];2020年
2 Yang Qian;Xiongjun Wu;Shengtong Wu;Fei Han;;RBF-neural network adaptive control of mobile manipulator[A];第37届中国控制会议论文集(D)[C];2018年
3 Zhao Tan;Fengmin Yu;Qiaoqian Chen;;Leaderless and Non-static Position Consensus Algorithm for Multi-manipulator Systems under Undirected Communication Topology[A];第37届中国控制会议论文集(D)[C];2018年
4 CUI Mingyue;Wu Zhaojing;;Stochastic modeling and control of manipulator with elastic joint actuated by DC-motors[A];第36届中国控制会议论文集(B)[C];2017年
5 Zhulong Shao;Shurong Li;Huaiqiang Yin;;Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator[A];第36届中国控制会议论文集(A)[C];2017年
6 ;Application of immune evolutionary algorithm to determine the position and rotation of parallel manipulator[A];第24届中国控制与决策会议论文集[C];2012年
7 Dong Liu;Xuzhi Lai;Yawu Wang;Xiongbo Wan;;Position Control of a Planar Four-Link Underactuated Manipulator[A];第37届中国控制会议论文集(A)[C];2018年
8 Yawu Wang;Xuzhi Lai;Pan Zhang;;Control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator[A];第37届中国控制会议论文集(D)[C];2018年
9 ;KINEMATICS AND DYNAMICS ANALYSIS OF MAINTENANCE MANIPULATOR[A];2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会论文集[C];2006年
10 Qijie Zhou;Manlu Liu;Wei Wang;Liang Xu;Tianxiang Ao;Hua Zhang;;Research On Fault Tolerant Control Strategy of Multi-Degree-of-Freedom Manipulator with Single Joint Faults[A];第37届中国控制会议论文集(D)[C];2018年
11 ;On the Kinematics Analysis and Motion Planning of the Manipulator of a Mobile Robot[A];Proceedings of the 2011 Chinese Control and Decision Conference(CCDC)[C];2011年
12 ;Adaptive Control of 6-DOF Parallel Manipulator[A];中国自动化学会控制理论专业委员会B卷[C];2011年
13 ;On a Manipulator for Xylophone-playing[A];第二十七届中国控制会议论文集[C];2008年
14 Chun Yin;Jianhong Xue;Yuhua Cheng;Bo Zhang;Jing Zhou;;Fractional order nonsingular fast terminal sliding mode control technique for 6-DOF robotic manipulator[A];第37届中国控制会议论文集(F)[C];2018年
15 Yi Cao;Mengshi Guo;Yayun Li;;Obstacle-free Workspace based Path Planning for Serial Manipulator[A];第36届中国控制会议论文集(E)[C];2017年
16 Pan Zhang;Xuzhi Lai;Yawu Wang;;Quick and Effective Position Control for Planar n-link Underactuated Manipulators Based on Optimization Algorithm[A];第37届中国控制会议论文集(D)[C];2018年
17 Michel Verhaegen;;Fault Detection and Estimation for LTI Systems and its Application to a Lab Robotic Manipulator[A];2009中国控制与决策会议论文集(2)[C];2009年
18 Yao Jianjun;Sun Xiaojie;Zhang Shiqi;Yang Ming;Zhang Xiaodong;;Monte Carlo Method for Searching Functional Workspace of An Underwater Manipulator[A];第30届中国控制与决策会议论文集(5)[C];2018年
19 Chen Zhihong;Zou Hebin;Wang Yanbo;Liang Binyan;Liao Yu;;A Vision-based Robotic Grasping System Using Deep Learning for Garbage Sorting[A];第36届中国控制会议论文集(G)[C];2017年
20 Shijun Wang;Hao Guo;Yibin Huang;Aixue Ye;Kui yuan;;Path planning for Nonholonomic mobile manipulators grasping based on multi-objective constraint[A];第36届中国控制会议论文集(E)[C];2017年
中国博士学位论文全文数据库 前4条
1 ABDELGALIL YOUSIF ELATTA(SUDAN);串并联高强度聚焦超声肿瘤治疗机中3PRS机构性能分析和运动学标定[D];华中科技大学;2005年
2 Shareef Aldoom Abdallah Adam;[D];扬州大学;2016年
3 NGO THANH QUYEN(吴青权);输电线路除冰机器人智能自适应跟踪控制方法研究[D];湖南大学;2012年
4 Mohamed Elamin Sahabi;[D];东南大学;2017年
中国硕士学位论文全文数据库 前9条
1 阿廖沙;机械手的运动数学建模[D];兰州交通大学;2015年
2 陈铁牛;机器人运动学标定的研究[D];哈尔滨工业大学;2010年
3 宫伟;平面柔性多连杆机械臂的一体化设计[D];哈尔滨工业大学;2008年
4 齐彪;混凝土喷射机多关节臂架运动学建模与控制算法的研究[D];哈尔滨工业大学;2013年
5 李兴修;柔性机械臂的振动控制研究[D];东北大学;2010年
6 许慧印;六轴机械臂的结构优化设计与轨迹规划研究[D];辽宁工程技术大学;2019年
7 高艳;美国大报之中国国家形象的话语建构[D];河北师范大学;2012年
8 Rai Afaq Ali(瑞扬);Delta机器人的动力学分析和振动控制[D];中国海洋大学;2015年
9 姜丹;外空间环境中的柔性机械臂的非线性振动研究[D];东北大学;2010年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978