TY - JOUR
T1 - Integrating structural and input design of a 2-DOF high-speed parallel manipulator
T2 - A flexible model-based approach
AU - Da Silva, Maíra M.
AU - De Oliveira, Leopoldo P.R.
AU - Brüls, Olivier
AU - Michelin, Micaël
AU - Baradat, Cédric
AU - Tempier, Olivier
AU - De Caigny, Jan
AU - Swevers, Jan
AU - Desmet, Wim
AU - Van Brussel, Hendrik
PY - 2010/11
Y1 - 2010/11
N2 - 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.
AB - 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.
KW - Feedforward signal
KW - Flexible multibody systems
KW - Motion planning
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=77956395222&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2010.07.002
DO - 10.1016/j.mechmachtheory.2010.07.002
M3 - Article
AN - SCOPUS:77956395222
SN - 0094-114X
VL - 45
SP - 1509
EP - 1519
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 11
ER -