Dynamic Precision Analysis of a Redundant Sliding Manipulator

	Dynamic Precision Analysis of a Redundant Sliding Manipulator
	Tong YC(佟玉闯)2,3,4; Liu JG(刘金国)2,3; Liu YW(刘玉旺)2,3; Fang LS(房灵申)3,5
	2020
会议日期	September 9-11, 2020
会议地点	Fushun, China
关键词	Dynamic precision analysis Dynamic error Redundant manipulator Sliding manipulator
页码	157-171
英文摘要	This paper deals with the dynamic precision analysis of a linear-type rail redundant sliding manipulator. Based on the analysis of the mechanism structure, kinematics, stiffness performance and dynamic characteristics of the redundant sliding manipulator, the dynamic error caused by elastic deformation of links is analyzed. A mathematical model of the dynamic precision of the redundant sliding manipulator system is established in this paper by the geometric method. The influence of parameters such as equivalent stiffness and moment of inertia on the dynamic error of the manipulator is analyzed and parameter optimization schemes are proposed to reduce the dynamic error. Simulation analysis and experiment verify the dynamic precision of the redundant sliding manipulator. This paper provides a theoretical guidance for the high-precision operations of the redundant sliding manipulator. © 2020, Springer Nature Singapore Pte Ltd.
产权排序	1
会议录	Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings
会议录出版者	Springer Science and Business Media Deutschland GmbH
会议录出版地	Berlin
语种	英语
ISSN号	1865-0929
ISBN号	978-981-33-4931-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/28354]
专题	中国科学院沈阳自动化研究所
通讯作者	Liu JG(刘金国)
作者单位	1.School of Computing, University of Portsmouth, Portsmouth, PO1 3HE, United Kingdom 2.Stata Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.University of the Chinese Academy of Sciences, Beijing 100049, China 5.Kunshan Intelligent Equipment Research Institute, Shenyang Institute of Automation, Chinese Academy of Sciences, Kunshan 215347, China
推荐引用方式 GB/T 7714	Tong YC,Liu JG,Liu YW,et al. Dynamic Precision Analysis of a Redundant Sliding Manipulator[C]. 见:. Fushun, China. September 9-11, 2020.