Dynamic precision analysis of a redundant sliding manipulator

Yuchuang Tong; Jinguo Liu; Zhaojie Ju; Yuwang Liu; Lingshen Fang

doi:10.1007/978-981-33-4932-2_11

Dynamic precision analysis of a redundant sliding manipulator

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

^*Corresponding author for this work

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings
Editors	Jianhua Qian, Honghai Liu, Dalin Zhou, Jiangtao Cao
Publisher	Springer
Chapter	11
Pages	157-171
Number of pages	15
ISBN (Electronic)	978-981-33-4932-2
ISBN (Print)	9789813349315
DOIs	https://doi.org/10.1007/978-981-33-4932-2_11
Publication status	Early online - 18 Dec 2020
Event	1st International Conference on Robotics and Rehabilitation Intelligence - Fushun, China Duration: 9 Sept 2020 → 11 Sept 2020

Publication series

Name	Communications in Computer and Information Science
Volume	1336
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	1st International Conference on Robotics and Rehabilitation Intelligence
Abbreviated title	ICRRI 2020
Country/Territory	China
City	Fushun
Period	9/09/20 → 11/09/20

Keywords

Dynamic error
Dynamic precision analysis
Redundant manipulator
Sliding manipulator

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10.1007/978-981-33-4932-2_11

Dynamic precision analysis of a redundant sliding manipulator
This is a post-peer-review, pre-copyedit version of an article published in Qian J., Liu H., Cao J., Zhou D. (eds) Robotics and Rehabilitation Intelligence. ICRRI 2020. Communications in Computer and Information Science, vol 1336. The final authenticated version is available online at: http://dx.doi.org/10.1007/978-981-33-4932-2_11.
Accepted author manuscript (Post-print), 22.7 MB

Cite this

Tong, Y., Liu, J., Ju, Z., Liu, Y., & Fang, L. (2020). Dynamic precision analysis of a redundant sliding manipulator. In J. Qian, H. Liu, D. Zhou, & J. Cao (Eds.), Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings (pp. 157-171). (Communications in Computer and Information Science; Vol. 1336). Springer. Advance online publication. https://doi.org/10.1007/978-981-33-4932-2_11

@inproceedings{6a4dc18d6f8e42c5809b4c7932adc770,

title = "Dynamic precision analysis of a redundant sliding manipulator",

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.",

keywords = "Dynamic error, Dynamic precision analysis, Redundant manipulator, Sliding manipulator",

author = "Yuchuang Tong and Jinguo Liu and Zhaojie Ju and Yuwang Liu and Lingshen Fang",

note = "Funding Information: This work was supported in part by the National Key R&D Program of China (Grant No. 2018YFB1304600), the Natural Science Foundation of China (Grant No. 51775541), CAS Interdisciplinary Innovation Team (Grant No. JCTD-2018-11). Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 1st International Conference on Robotics and Rehabilitation Intelligence, ICRRI 2020 ; Conference date: 09-09-2020 Through 11-09-2020",

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month = dec,

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doi = "10.1007/978-981-33-4932-2_11",

language = "English",

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series = "Communications in Computer and Information Science",

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editor = "Jianhua Qian and Honghai Liu and Dalin Zhou and Jiangtao Cao",

booktitle = "Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings",

}

Tong, Y, Liu, J, Ju, Z, Liu, Y & Fang, L 2020, Dynamic precision analysis of a redundant sliding manipulator. in J Qian, H Liu, D Zhou & J Cao (eds), Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings. Communications in Computer and Information Science, vol. 1336, Springer, pp. 157-171, 1st International Conference on Robotics and Rehabilitation Intelligence, Fushun, China, 9/09/20. https://doi.org/10.1007/978-981-33-4932-2_11

Dynamic precision analysis of a redundant sliding manipulator. / Tong, Yuchuang; Liu, Jinguo; Ju, Zhaojie et al.
Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings. ed. / Jianhua Qian; Honghai Liu; Dalin Zhou; Jiangtao Cao. Springer, 2020. p. 157-171 (Communications in Computer and Information Science; Vol. 1336).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Dynamic precision analysis of a redundant sliding manipulator

AU - Tong, Yuchuang

AU - Liu, Jinguo

AU - Ju, Zhaojie

AU - Liu, Yuwang

AU - Fang, Lingshen

N1 - Funding Information: This work was supported in part by the National Key R&D Program of China (Grant No. 2018YFB1304600), the Natural Science Foundation of China (Grant No. 51775541), CAS Interdisciplinary Innovation Team (Grant No. JCTD-2018-11). Publisher Copyright: © 2020, Springer Nature Singapore Pte Ltd. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2020/12/18

Y1 - 2020/12/18

N2 - 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.

AB - 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.

KW - Dynamic error

KW - Dynamic precision analysis

KW - Redundant manipulator

KW - Sliding manipulator

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BT - Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings

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A2 - Liu, Honghai

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A2 - Cao, Jiangtao

PB - Springer

T2 - 1st International Conference on Robotics and Rehabilitation Intelligence

Y2 - 9 September 2020 through 11 September 2020

ER -

Tong Y, Liu J, Ju Z, Liu Y, Fang L. Dynamic precision analysis of a redundant sliding manipulator. In Qian J, Liu H, Zhou D, Cao J, editors, Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings. Springer. 2020. p. 157-171. (Communications in Computer and Information Science). Epub 2020 Dec 18. doi: 10.1007/978-981-33-4932-2_11

Dynamic precision analysis of a redundant sliding manipulator

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