Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis
In order to reduce the energy consumption of a robot of the closed five-bow-shaped-bar linkage rolling along a straight line，the effect of the maximum rolling acceleration under the constant potential energy rolling strategy and the variable potential energy rolling strategy on the total energy cons...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.001 |
| _version_ | 1797819018716905472 |
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| author | Yu Lianqing Zeng Xiangkuo Li Hongjun Wu Zijun Meng Yunhong |
| author_facet | Yu Lianqing Zeng Xiangkuo Li Hongjun Wu Zijun Meng Yunhong |
| author_sort | Yu Lianqing |
| collection | DOAJ |
| description | In order to reduce the energy consumption of a robot of the closed five-bow-shaped-bar linkage rolling along a straight line，the effect of the maximum rolling acceleration under the constant potential energy rolling strategy and the variable potential energy rolling strategy on the total energy consumption of the system is studied.A modified trapezoidal curve with adjustable maximum rolling acceleration is adopted as the rolling angle acceleration law of the system，and the joint trajectories is obtained by using the rolling strategies of constant potential energy and variable potential energy respectively.On this basis，considering the viscous friction in the joints，the Lagrange equation with dissipation function is used to solve inverse dynamics solution，and the total energy consumption of the system is calculated by the energy consumption equation.The calculation shows that the total energy consumption of the system decreases first and then increases with the increase of the maximum rolling acceleration，and using the constant potential energy rolling strategy is beneficial to reducing the total energy consumption of the system.Finally，the correctness of theoretical analysis is verified by Adams simulation. |
| first_indexed | 2024-03-13T09:16:43Z |
| format | Article |
| id | doaj.art-f9fe99beec1f403cbd3d4fdef5f0cd53 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:43Z |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-f9fe99beec1f403cbd3d4fdef5f0cd532023-05-26T09:55:22ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-01-01441731443063Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption AnalysisYu LianqingZeng XiangkuoLi HongjunWu ZijunMeng YunhongIn order to reduce the energy consumption of a robot of the closed five-bow-shaped-bar linkage rolling along a straight line，the effect of the maximum rolling acceleration under the constant potential energy rolling strategy and the variable potential energy rolling strategy on the total energy consumption of the system is studied.A modified trapezoidal curve with adjustable maximum rolling acceleration is adopted as the rolling angle acceleration law of the system，and the joint trajectories is obtained by using the rolling strategies of constant potential energy and variable potential energy respectively.On this basis，considering the viscous friction in the joints，the Lagrange equation with dissipation function is used to solve inverse dynamics solution，and the total energy consumption of the system is calculated by the energy consumption equation.The calculation shows that the total energy consumption of the system decreases first and then increases with the increase of the maximum rolling acceleration，and using the constant potential energy rolling strategy is beneficial to reducing the total energy consumption of the system.Finally，the correctness of theoretical analysis is verified by Adams simulation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.001Closed five-bow-shaped-bar |
| spellingShingle | Yu Lianqing Zeng Xiangkuo Li Hongjun Wu Zijun Meng Yunhong Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis Jixie chuandong Closed five-bow-shaped-bar |
| title | Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis |
| title_full | Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis |
| title_fullStr | Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis |
| title_full_unstemmed | Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis |
| title_short | Acceleration Planning of the Closed Five-bow-shaped-bar Linkage based on Energy Consumption Analysis |
| title_sort | acceleration planning of the closed five bow shaped bar linkage based on energy consumption analysis |
| topic | Closed five-bow-shaped-bar |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.001 |
| work_keys_str_mv | AT yulianqing accelerationplanningoftheclosedfivebowshapedbarlinkagebasedonenergyconsumptionanalysis AT zengxiangkuo accelerationplanningoftheclosedfivebowshapedbarlinkagebasedonenergyconsumptionanalysis AT lihongjun accelerationplanningoftheclosedfivebowshapedbarlinkagebasedonenergyconsumptionanalysis AT wuzijun accelerationplanningoftheclosedfivebowshapedbarlinkagebasedonenergyconsumptionanalysis AT mengyunhong accelerationplanningoftheclosedfivebowshapedbarlinkagebasedonenergyconsumptionanalysis |