Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining
Dynamic performance is an important performance of robots used for machine processing. This paper studies the dynamic modeling and evaluation method of a 5-DOF (Degree of Freedom) hybrid robot used in aerospace composite material processing. With the consideration of the dynamics of the serial part,...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/6/652 |
| _version_ | 1797593765214420992 |
|---|---|
| author | Xiaojian Wang Jun Wu Yulin Zhou |
| author_facet | Xiaojian Wang Jun Wu Yulin Zhou |
| author_sort | Xiaojian Wang |
| collection | DOAJ |
| description | Dynamic performance is an important performance of robots used for machine processing. This paper studies the dynamic modeling and evaluation method of a 5-DOF (Degree of Freedom) hybrid robot used in aerospace composite material processing. With the consideration of the dynamics of the serial part, the complete dynamic model of the hybrid robot is established based on the virtual work principle. In addition to the widely considered acceleration term, a dynamic performance evaluation index that comprehensively considers the acceleration term, velocity term and gravity term in the dynamic model is proposed. Using the dynamic performance index, the effect of the placement direction of the robot and the arrangement of the double symmetric limbs on robot dynamics are investigated. The results indicate that the vertical placement is beneficial to the dynamics of the hybrid robot, and the arrangement of double symmetric limbs has different effects on different limbs. |
| first_indexed | 2024-03-11T02:13:09Z |
| format | Article |
| id | doaj.art-136dfcbb40a346ada6c2174eb64d6887 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T02:13:09Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-136dfcbb40a346ada6c2174eb64d68872023-11-18T11:21:08ZengMDPI AGMachines2075-17022023-06-0111665210.3390/machines11060652Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material MachiningXiaojian Wang0Jun Wu1Yulin Zhou2State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, ChinaCollege of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaDynamic performance is an important performance of robots used for machine processing. This paper studies the dynamic modeling and evaluation method of a 5-DOF (Degree of Freedom) hybrid robot used in aerospace composite material processing. With the consideration of the dynamics of the serial part, the complete dynamic model of the hybrid robot is established based on the virtual work principle. In addition to the widely considered acceleration term, a dynamic performance evaluation index that comprehensively considers the acceleration term, velocity term and gravity term in the dynamic model is proposed. Using the dynamic performance index, the effect of the placement direction of the robot and the arrangement of the double symmetric limbs on robot dynamics are investigated. The results indicate that the vertical placement is beneficial to the dynamics of the hybrid robot, and the arrangement of double symmetric limbs has different effects on different limbs.https://www.mdpi.com/2075-1702/11/6/652hybrid robotkinematicsdynamicsperformance evaluationplacement direction |
| spellingShingle | Xiaojian Wang Jun Wu Yulin Zhou Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining Machines hybrid robot kinematics dynamics performance evaluation placement direction |
| title | Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining |
| title_full | Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining |
| title_fullStr | Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining |
| title_full_unstemmed | Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining |
| title_short | Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining |
| title_sort | dynamic modeling and performance evaluation of a 5 dof hybrid robot for composite material machining |
| topic | hybrid robot kinematics dynamics performance evaluation placement direction |
| url | https://www.mdpi.com/2075-1702/11/6/652 |
| work_keys_str_mv | AT xiaojianwang dynamicmodelingandperformanceevaluationofa5dofhybridrobotforcompositematerialmachining AT junwu dynamicmodelingandperformanceevaluationofa5dofhybridrobotforcompositematerialmachining AT yulinzhou dynamicmodelingandperformanceevaluationofa5dofhybridrobotforcompositematerialmachining |