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

• Published in: Mechanism and machine theory Vol. 45; no. 11; pp. 1509 - 1519
• Main Authors: da Silva, Maíra M., de Oliveira, Leopoldo P.R., Brüls, Olivier, Michelin, Micaël, Baradat, Cédric, Tempier, Olivier, De Caigny, Jan, Swevers, Jan, Desmet, Wim, Van Brussel, Hendrik
• Format: Journal Article Web Resource
• Language: English
• Published: Kidlington Elsevier Ltd 01.11.2010; Elsevier; Pergamon Press - An Imprint of Elsevier Science
• Subjects: Applied sciences; Design engineering; Drives; Dynamics; Electrical & electronics engineering; Engineering, computing & technology; Exact sciences and technology; Feedforward signal; Feedforward signals; Flexible multibody systems; Fundamental areas of phenomenology (including applications); High speed; Ingénierie mécanique; Ingénierie électrique & électronique; Ingénierie, informatique & technologie; Linkage mechanisms, cams; Manipulators; Mechanical engineering; Mechanical engineering. Machine design; Methodology; Motion planning; Parallel manipulators; Physics; Rigid-body dynamics; Robot arms; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Strategy; Motion planning; Flexible multibody systems; Feedforward signal; Parallel manipulators; Process planning; System with two degrees of freedom; Parallel mechanism; Control synthesis; Path planning; Modeling; Deformable body; Manipulator; Design process; Machine design; High speed; Linkage mechanism; Integrated design; Feedforward; Motion control; Structural analysis
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2010.07.002

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.