Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach

No Thumbnail Available
Identifiers
URI: https://hdl.handle.net/11556/4241
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2010.07.002
Publication date
2010-11
Authors
Advisors
Journal Title
Journal ISSN
Volume Title
Publisher
Citations
Google Scholar
Export
Research Projects
Organizational Units
Journal Issue
Abstract
This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.
Description
Keywords
Feedforward signal , Flexible multibody systems , Motion planning , Parallel manipulators , Bioengineering , Mechanics of Materials , Mechanical Engineering , Computer Science Applications
Type
journal article
Citation
Da Silva , M M , De Oliveira , L P R , Brüls , O , Michelin , M , Baradat , C , Tempier , O , De Caigny , J , Swevers , J , Desmet , W & Van Brussel , H 2010 , ' Integrating structural and input design of a 2-DOF high-speed parallel manipulator : A flexible model-based approach ' , Mechanism and Machine Theory , vol. 45 , no. 11 , pp. 1509-1519 . https://doi.org/10.1016/j.mechmachtheory.2010.07.002