Impact reduction design and control of quadruple-speed manipulator based on motion curve optimization

• Published in: Journal of the Brazilian Society of Mechanical Sciences and Engineering Vol. 46; no. 3
• Main Authors: Liu, Qiong, Yan, Jianwen, Yang, Chen, Cheng, Yucheng
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.03.2024; Springer Nature B.V
• Subjects: Engineering; Manipulators; Mechanical Engineering; Racks; Structural failure; Technical Paper; Thermoforming; Tracking errors; Trajectory control; Vibration; Workpieces; Shock; Jitter; Motion trajectory; Control scheme; Quadruple-speed manipulator
• ISSN: 1678-5878; 1806-3691
• DOI: 10.1007/s40430-024-04693-5

The inherent characteristics of the quadruple-speed manipulator, i.e., its structure, motion trajectory, and control scheme, make the system operate with a certain amount of shock and jitter. This problem can place severe loads on the key components of the device, such as gears, racks, and timing belts, leading to structural failure and reduced product quality and efficiency. Therefore, to achieve a fast and smooth transfer of workpieces in the thermoforming process, a quadruple-speed manipulator system is modeled for the analysis of existing manipulator devices. Secondly, the jitter in the movement of the quadruple-speed manipulator due to the long cantilever feature is analyzed, and its movement profile and corresponding controller are optimized. Simulation tests are carried out, and experimental verification is completed. In particular, the displacement tracking error is only 0.16 mm, and the speed fluctuation under the corresponding control scheme is relatively reduced by 0.3601 m/s 2 .