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Frontiers of Mechanical Engineering

Front. Mech. Eng.    2018, Vol. 13 Issue (2) : 167-178
Evaluation of the power consumption of a high-speed parallel robot
Gang HAN1, Fugui XIE1,2(), Xin-Jun LIU1,2()
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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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.
Fig.1  Parallel robot. (a) 3D model; (b) kinematic scheme
Fig.2  Relationship between the power vector and velocity of the moving platform
Length of active arm BiCi, L1/mm292.5
Length of passive rod CiPi, L2/mm526.5
Length of OBi, R1/mm229.5
Length of OPi, R2/mm153.0
Angle between P1P3 and P2P4, ξ/(° )120
Inertia of the active arm about the active joint, I1/(kg·m2)0.043
Length from the mass center of the active arm to the active joint, l1/mm124.7
Mass of the active arm, m1/kg1.600
Mass of the two uniform rods of the passive rod, m2/kg0.144
Mass of the moving platform, m3/kg0.850
Inertia of the moving platform about the z-axis, Iz/(kg·m2)0.009
Mass of the equivalent mass point on Ci, mC/kg0.098
Mass of the equivalent mass point on Pi, mP/kg0.348
Tab.1  Parameters of the high-speed parallel robot
Fig.3  Comparison of the simulation results. (a) Torque of Joint B1; (b) torque of Joint B2
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 ηoeq with z=−370 mm and θ=0°, 25°, and 45°; (b) distribution of ηoeq with z=−370, −300, and −260 mm, and θ=45°; (c) distribution of κout with z=−370 mm and θ=0°, 25°, and 45°; (d) distribution of κout 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 ya-axis with z=−370 mm and θ=0°; (d) accelerates along the ya-axis with z=−370 mm and θ=45°; (e) accelerates along the xa-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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