Torque minimization of 2-DOF parallel robot using counterweights and trajectory planning

Document Type : Research Article

Authors

1 Robotics Lab, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran

2 Faculty of Mechanical Engineering, Semnan University, Semnan, Iran

Abstract

This paper investigates the point-to-point motion of the end effector of a 2-DOF parallel robot with minimum torque consumption. The presented method improves the dynamic performance of the robot. This method compensates the inertia force, gravity, Coriolis and the centrifugal terms of the system. The design parameters and optimal trajectory of the robot are simultaneously obtained for a predefined point-to-point motion. Two adjustable counterweights are attached to each active link. The mass of the counterweights and the installation angle of them are considered as design parameters. The optimal trajectory of the robot is obtained by the third-order spline interpolation. Minimum-effort is the objective function of the problem. The numbers cup optimization method is used to find optimum values of the design variables of trajectory and design parameters of the robot. The simulation results show that the objective function has been approximately reached zero value. An experimental robot was developed to verify the simulation results and illustrate the efficiency of the proposed approach. With adjusting the design parameters of the robot, the servo-actuators are operated in position control mode. The experimental outputs show that the objective function has been reduced by about 90% compared to the typical form of the robot.
 

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Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 53, Issue 4 (Special Issue)
July 2021
Pages 2409-2422

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