Dynamic precision analysis of a redundant sliding manipulator

Yuchuang Tong, Jinguo Liu*, Zhaojie Ju, Yuwang Liu, Lingshen Fang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper deals with the dynamic precision analysis of a linear-type rail redundant sliding manipulator. Based on the analysis of the mechanism structure, kinematics, stiffness performance and dynamic characteristics of the redundant sliding manipulator, the dynamic error caused by elastic deformation of links is analyzed. A mathematical model of the dynamic precision of the redundant sliding manipulator system is established in this paper by the geometric method. The influence of parameters such as equivalent stiffness and moment of inertia on the dynamic error of the manipulator is analyzed and parameter optimization schemes are proposed to reduce the dynamic error. Simulation analysis and experiment verify the dynamic precision of the redundant sliding manipulator. This paper provides a theoretical guidance for the high-precision operations of the redundant sliding manipulator.

Original languageEnglish
Title of host publicationRobotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings
EditorsJianhua Qian, Honghai Liu, Dalin Zhou, Jiangtao Cao
PublisherSpringer
Chapter11
Pages157-171
Number of pages15
ISBN (Electronic)978-981-33-4932-2
ISBN (Print)9789813349315
DOIs
Publication statusEarly online - 18 Dec 2020
Event1st International Conference on Robotics and Rehabilitation Intelligence - Fushun, China
Duration: 9 Sep 202011 Sep 2020

Publication series

NameCommunications in Computer and Information Science
Volume1336
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference1st International Conference on Robotics and Rehabilitation Intelligence
Abbreviated titleICRRI 2020
Country/TerritoryChina
CityFushun
Period9/09/2011/09/20

Keywords

  • Dynamic error
  • Dynamic precision analysis
  • Redundant manipulator
  • Sliding manipulator

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