Evaluation of the power consumption of a high-speed parallel robot

doi:10.1007/s11465-017-0456-8

Front. Mech. Eng.

2018, Vol. 13

Issue (2) : 167-178 https://doi.org/10.1007/s11465-017-0456-8

RESEARCH ARTICLE

Evaluation of the power consumption of a high-speed parallel robot

Gang HAN¹, Fugui XIE^1,²(

), Xin-Jun LIU^1,²(

)

¹. The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
². Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China

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Abstract

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.

Keywords high-speed parallel robot dynamic model power consumption evaluation method power vector

Corresponding Author(s): Fugui XIE,Xin-Jun LIU

Just Accepted Date: 07 June 2017 Online First Date: 20 July 2017 Issue Date: 16 March 2018

Cite this article:

Gang HAN,Fugui XIE,Xin-Jun LIU. Evaluation of the power consumption of a high-speed parallel robot[J]. Front. Mech. Eng., 2018, 13(2): 167-178.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-017-0456-8
https://academic.hep.com.cn/fme/EN/Y2018/V13/I2/167

Fig.1 Parallel robot. (a) 3D model; (b) kinematic scheme

Fig.2 Relationship between the power vector and velocity of the moving platform

Parameter	Value
Length of active arm $B i C i$ , $L 1$ /mm	292.5
Length of passive rod $C i P i$ , $L 2$ /mm	526.5
Length of $O B i$ , $R 1$ /mm	229.5
Length of $O ′ P i$ , $R 2$ /mm	153.0
Angle between $P 1 P 3$ and $P 2 P 4$ , $ξ$ /(° )	120
Inertia of the active arm about the active joint, $I 1$ /(kg·m²)	0.043
Length from the mass center of the active arm to the active joint, $l 1$ /mm	124.7
Mass of the active arm, $m 1$ /kg	1.600
Mass of the two uniform rods of the passive rod, $m 2$ /kg	0.144
Mass of the moving platform, $m 3$ /kg	0.850
Inertia of the moving platform about the z-axis, $I z$ /(kg·m²)	0.009
Mass of the equivalent mass point on $C i$ , $m C$ /kg	0.098
Mass of the equivalent mass point on $P i$ , $m P$ /kg	0.348

Tab.1 Parameters of the high-speed parallel robot

Fig.3 Comparison of the simulation results. (a) Torque of Joint

B 1

; (b) torque of Joint

B 2

Fig.4 Total power consumption of the mechanism

Fig.5 Workspace of the study robot

Fig.6 Distributions of the equivalent value and condition number of power output transmissibility: (a) Distribution of

η oeq

with z=−370 mm and θ=0°, 25°, and 45°; (b) distribution of

η oeq

with z=−370, −300, and −260 mm, and θ=45°; (c) distribution of

κ out

with z=−370 mm and θ=0°, 25°, and 45°; (d) distribution of

κ out

with z=−370, −300, and −260 mm, and θ=45°

Fig.7 Contour maps of power input transmissibility when the robot (a) accelerates vertically with z=−370 mm and θ=45°; (b) accelerates vertically with z=−307 mm and θ=45°; (c) accelerates along the y_a-axis with z=−370 mm and θ=0°; (d) accelerates along the y_a-axis with z=−370 mm and θ=45°; (e) accelerates along the x_a-axis with z=−370 mm and θ=45°

Fig.8 Low-power-consumption workspace

Fig.9 Boundaries of different horizontal planes of the selected workspace

Fig.10 Total power consumption of the four robot motions: (a) Comparison of Motions (I) and (II); (b) comparison of Motions (III) and (IV)

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