Shaking Force Balancing of the Delta Robot - Ecole Centrale de Nantes Accéder directement au contenu
Communication Dans Un Congrès Année : 2020

Shaking Force Balancing of the Delta Robot

Résumé

The paper deals with the shaking force balancing of the DELTA robot. The balancing of the shaking force of the DELTA robot is carried out through the center of mass acceleration minimization. The trajectories of the total mass center of moving links are defined as straight lines between the initial and final positions of the platform. Then, the motion between these positions are parameterized with "bang-bang" motion profiles. Such a motion generation allows the reduction of the maximal value of the center of mass acceleration and, consequently, leads to the reduction in the shaking force. A main advantage of this method is its simplicity and versatility. It is carried out without any modification of mass redistribution of the initial robot structure, i.e. without adding counterweights. In the case of changing trajectories or payloads, it is just necessary to provide the initial and final positions of the platform, calculate the input parameters according to the proposed method and implemented them in the robot control system. Numerical simulations illustrate the efficiency of the suggested approach.
Fichier principal
Vignette du fichier
Geng_Arakelian_Chablat_new_version 4.pdf (309.54 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02994201 , version 1 (07-11-2020)

Identifiants

  • HAL Id : hal-02994201 , version 1

Citer

Damien Chablat, Jing Geng, Vigen Arakelian. Shaking Force Balancing of the Delta Robot. The ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2020, Aug 2020, Saint Louis, United States. ⟨hal-02994201⟩
73 Consultations
380 Téléchargements

Partager

Gmail Facebook X LinkedIn More