The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.

Volume Subject Area:
Robotics
Topics:
Dynamic analysis, Robots, Simulation, Computer software, Diamonds, Dynamic modeling, Dynamic models, Equations of motion, Finishes, Finite element methods, Finite element model, Lithium-ion batteries, Modal analysis, Rotation, Theoretical analysis
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Copyright © 2008
 by ASME
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