首页|期刊导航|高技术通讯（英文版）|Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment
高技术通讯（英文版）2005，Vol.11Issue(3)：229-234,6.
Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment
Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment
摘要
Abstract
The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis (FEA) and flexible dynamics is employed in the analysis. The appropriate natural frequencies of robot throughout workspace are predicted, and the effects of payload, flexibility of joints, cross section and orientations of robot on the natural frequency are analyzed by simulation. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the workspace. The experiment also proves the robot's performance under a fuzzy self-tuning PI controller.关键词
parallel robot/structural analysis/finite element analysis (FEA)/natural frequency/fuzzy PI controlKey words
parallel robot/structural analysis/finite element analysis (FEA)/natural frequency/fuzzy PI control分类
信息技术与安全科学引用本文复制引用
..Structural design, analysis and performance evaluation of a novel planar parallel robot: theory and experiment[J].高技术通讯（英文版）,2005,11(3):229-234,6.基金项目
Supported by the High Technology Reseanch and Development Programme of China(No.2003AA404060). （No.2003AA404060）
