Balancing of the Orthoglide Taking into Account Its Varying Payload
For fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of the robot system can be improved. However, the co...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-02-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/1/30 |
| _version_ | 1797413432811585536 |
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| author | Jing Geng Vigen Arakelian Damien Chablat Philippe Lemoine |
| author_facet | Jing Geng Vigen Arakelian Damien Chablat Philippe Lemoine |
| author_sort | Jing Geng |
| collection | DOAJ |
| description | For fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of the robot system can be improved. However, the complete inertial force and inertial moment balancing can only be achieved by adding extra counterweight and counter-rotation systems, which largely increase the total mass, overall size, and complexity of robots. In order to avoid these inconveniences, an approach based on the optimal motion control of the center of mass is applied for the shaking force balancing of the robot Orthoglide. The application of the “bang–bang” motion profile on the common center of mass allows a considerable reduction of the acceleration of the total mass center, which results in the reduction of the shaking force. With the proposed method, the shaking force balancing of the Orthoglide is carried out, taking into account the varying payload. Note that such a solution by purely mechanical methods is complex and practically inapplicable for industrial robots. The simulations in ADAMS software validate the efficiency of the suggested approach. |
| first_indexed | 2024-03-09T05:17:47Z |
| format | Article |
| id | doaj.art-13c2b981c52e44bea9e1b2ab7a86d3ae |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T05:17:47Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-13c2b981c52e44bea9e1b2ab7a86d3ae2023-12-03T12:43:13ZengMDPI AGRobotics2218-65812021-02-011013010.3390/robotics10010030Balancing of the Orthoglide Taking into Account Its Varying Payload Jing Geng0Vigen Arakelian1Damien Chablat2Philippe Lemoine3LS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la Noë, BP 92101, F-44321 Nantes, FranceLS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la Noë, BP 92101, F-44321 Nantes, FranceLS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la Noë, BP 92101, F-44321 Nantes, FranceLS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la Noë, BP 92101, F-44321 Nantes, FranceFor fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of the robot system can be improved. However, the complete inertial force and inertial moment balancing can only be achieved by adding extra counterweight and counter-rotation systems, which largely increase the total mass, overall size, and complexity of robots. In order to avoid these inconveniences, an approach based on the optimal motion control of the center of mass is applied for the shaking force balancing of the robot Orthoglide. The application of the “bang–bang” motion profile on the common center of mass allows a considerable reduction of the acceleration of the total mass center, which results in the reduction of the shaking force. With the proposed method, the shaking force balancing of the Orthoglide is carried out, taking into account the varying payload. Note that such a solution by purely mechanical methods is complex and practically inapplicable for industrial robots. The simulations in ADAMS software validate the efficiency of the suggested approach.https://www.mdpi.com/2218-6581/10/1/30balancingshaking forcethe center of massoptimal control“bang–bang” motion profile |
| spellingShingle | Jing Geng Vigen Arakelian Damien Chablat Philippe Lemoine Balancing of the Orthoglide Taking into Account Its Varying Payload Robotics balancing shaking force the center of mass optimal control “bang–bang” motion profile |
| title | Balancing of the Orthoglide Taking into Account Its Varying Payload |
| title_full | Balancing of the Orthoglide Taking into Account Its Varying Payload |
| title_fullStr | Balancing of the Orthoglide Taking into Account Its Varying Payload |
| title_full_unstemmed | Balancing of the Orthoglide Taking into Account Its Varying Payload |
| title_short | Balancing of the Orthoglide Taking into Account Its Varying Payload |
| title_sort | balancing of the orthoglide taking into account its varying payload |
| topic | balancing shaking force the center of mass optimal control “bang–bang” motion profile |
| url | https://www.mdpi.com/2218-6581/10/1/30 |
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