Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

• Published in: Chinese journal of mechanical engineering Vol. 35; no. 1; pp. 16 - 8
• Main Authors: Shan, Xianlei, Li, Yuhang, Liu, Haitao, Huang, Tian
• Format: Journal Article
• Language: English
• Published: Singapore Springer Singapore 01.12.2022; Springer Nature B.V; SpringerOpen
• Edition: English ed.
• Subjects: Electrical Machines and Networks; Electronics and Microelectronics; End effectors; Engineering; Engineering Thermodynamics; Heat and Mass Transfer; High speed; Input shaping; Instrumentation; Machines; Manufacturing; Mechanical Engineering; Mechanism and Robotics; Original Article; Parallel degrees of freedom; Pick-and-place parallel robot; Power Electronics; Processes; Residual vibration reduction; Robots; Theoretical and Applied Mechanics; Vibration; Vibration control; Input shaping; Pick-and-place parallel robot; Residual vibration reduction
• ISSN: 1000-9345; 2192-8258
• DOI: 10.1186/s10033-022-00679-3

Because of their elastic links and joints, high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy. An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots. After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints, a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector. The input shaper allows a good overall performance to be achieved throughout the entire workspace. Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.