Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller
The selective compliance assembly robot arm (SCARA) has been developed for decades and has been widely used in industry due to its light structure, quick response and high stiffness in a specific axis. In this work, we designed a reconfigurable SCARA robot with extensible physical space by adjusting...
| Main Authors: | , , , , , |
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| Format: | Article |
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MDPI AG
2022-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/3/1626 |
| _version_ | 1797488958920196096 |
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| author | Yanjie Wang Chun Zhao Dong Mei Gangqiang Tang Lei Zhang Denglin Zhu |
| author_facet | Yanjie Wang Chun Zhao Dong Mei Gangqiang Tang Lei Zhang Denglin Zhu |
| author_sort | Yanjie Wang |
| collection | DOAJ |
| description | The selective compliance assembly robot arm (SCARA) has been developed for decades and has been widely used in industry due to its light structure, quick response and high stiffness in a specific axis. In this work, we designed a reconfigurable SCARA robot with extensible physical space by adjusting the number of modular arms. Considering potential structural failure due to vibration, we employed a multi-objective optimization method based on the finite element method to optimize the bolt connectors between the modules. Compared with the classic finite element optimization method, this method focuses on the key factors affecting the precision of the reconfigurable robot; we used the fitting method of the multi-objective function to obtain the influential factors, which make the optimization results more consistent with a real situation. Then, exploiting the acceleration feedback enhanced (AFE) control strategy, a pre-filter AFE PID controller is proposed by introducing a pre-filter to effectively suppress the system disturbance, which is caused by gaps between the joints when the robot operates at high speed. Experiments show that the reconfigurable SCARA robot still has strong stability under the continuous disturbance of a 2 kg hanging plate weight. |
| first_indexed | 2024-03-10T00:09:45Z |
| format | Article |
| id | doaj.art-055a841dc7414a209848298bd808c5fa |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:09:45Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-055a841dc7414a209848298bd808c5fa2023-11-23T16:00:43ZengMDPI AGApplied Sciences2076-34172022-02-01123162610.3390/app12031626Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID ControllerYanjie Wang0Chun Zhao1Dong Mei2Gangqiang Tang3Lei Zhang4Denglin Zhu5Changzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaChangzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaChangzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaChangzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaChangzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaChangzhou Campus, Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou 213022, ChinaThe selective compliance assembly robot arm (SCARA) has been developed for decades and has been widely used in industry due to its light structure, quick response and high stiffness in a specific axis. In this work, we designed a reconfigurable SCARA robot with extensible physical space by adjusting the number of modular arms. Considering potential structural failure due to vibration, we employed a multi-objective optimization method based on the finite element method to optimize the bolt connectors between the modules. Compared with the classic finite element optimization method, this method focuses on the key factors affecting the precision of the reconfigurable robot; we used the fitting method of the multi-objective function to obtain the influential factors, which make the optimization results more consistent with a real situation. Then, exploiting the acceleration feedback enhanced (AFE) control strategy, a pre-filter AFE PID controller is proposed by introducing a pre-filter to effectively suppress the system disturbance, which is caused by gaps between the joints when the robot operates at high speed. Experiments show that the reconfigurable SCARA robot still has strong stability under the continuous disturbance of a 2 kg hanging plate weight.https://www.mdpi.com/2076-3417/12/3/1626SCARA robotreconfigurable armmulti-objective optimizationpre-filter AFE PID controller |
| spellingShingle | Yanjie Wang Chun Zhao Dong Mei Gangqiang Tang Lei Zhang Denglin Zhu Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller Applied Sciences SCARA robot reconfigurable arm multi-objective optimization pre-filter AFE PID controller |
| title | Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller |
| title_full | Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller |
| title_fullStr | Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller |
| title_full_unstemmed | Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller |
| title_short | Structural Design and Position Tracking of the Reconfigurable SCARA Robot by the Pre-Filter AFE PID Controller |
| title_sort | structural design and position tracking of the reconfigurable scara robot by the pre filter afe pid controller |
| topic | SCARA robot reconfigurable arm multi-objective optimization pre-filter AFE PID controller |
| url | https://www.mdpi.com/2076-3417/12/3/1626 |
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