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Research on the dynamic characteristics of a 3-DOF parallel tool head

Dong Wang (State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)
Jun Wu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)
Liping Wang (State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)
Yuzhe Liu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)
Guang Yu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)

Industrial Robot

ISSN: 0143-991X

Article publication date: 16 January 2017

241

Abstract

Purpose

The purpose of this paper is to describe and evaluate the time-varying and coupling dynamic characteristics of a 3-DOF parallel tool head.

Design/methodology/approach

From the view of control, a new dynamic index of a 3-DOF parallel tool head is proposed based on the dynamic model in the joint space. This index can reflect the time-varying and coupling dynamic characteristics which are the main characteristics of the parallel mechanisms, and its distribution in the whole workspace is also given. Through comparison of the dynamic load (driving current) of each driving shaft, a series of experiments is designed and carried out on a prototype to validate the effectiveness of the dynamic analysis. The tracking error of each driving shaft has also been taken into consideration.

Findings

The simulations of the index have the same variation law with the experimental results. The dynamic load of the driving shaft becomes larger with the increase of the dynamic index, and the dynamic performance becomes worse at the same time.

Originality/value

The main dynamic characteristics of the 3-DOF parallel tool head can be described and evaluated through this work.

Keywords

Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant No. 51622505 and 51225503), the Science and Technology Major Project-Advanced NC Machine Tools & Basic Manufacturing Equipments (2014ZX04002051), and Top-Notch Young Talents Program of China (W02070022).

Citation

Wang, D., Wu, J., Wang, L., Liu, Y. and Yu, G. (2017), "Research on the dynamic characteristics of a 3-DOF parallel tool head", Industrial Robot, Vol. 44 No. 1, pp. 28-37. https://doi.org/10.1108/IR-03-2016-0094

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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