Dynamic analysis and parameter estimation of coupled three-link planar manipulator with flexible belt-drive system

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• 作者：Taeyeop Lee (1)
  Jonghyeon Choi (1)
  Sungsoo Rhim (1)
  
  1. Dept. Mechanical Engineering ; Kyung Hee University ; Yongin-si ; Gyeonggi-do ; Korea
  
• 关键词：Coupled planar manipulator ; Flexible ; joint ; Flexible belt ; drive ; Genetic algorithm ; Parameter estimation
• 刊名：Journal of Mechanical Science and Technology
• 出版年：2015
• 出版时间：March 2015
• 年：2015
• 卷：29
• 期：3
• 页码：981-988
• 全文大小：3,773 KB
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• 刊物类别：Engineering
• 刊物主题：Mechanical Engineering
  Structural Mechanics
  Control Engineering
  Industrial and Production Engineering
  
• 出版者：The Korean Society of Mechanical Engineers
• ISSN：1976-3824

文摘

The coupled three-link planar manipulator mechanism is widely adopted in panel handling robots for the realization of straight-line translational motion of the end-effector with a single actuator and three belt-drive systems. This research analyzes and models the complex dynamics of the coupled three-link planar manipulator including the flexible belt systems. Equations of the motion of the manipulator are derived mathematically by using Lagrange method and the coupling constraints between the links are modeled and appropriately represented in the mathematical model. Also, joint friction is modeled with static, Coulomb and viscous models. Using the mathematical model a numerical simulation program is developed. The system parameters, including joint friction and belt damping, for the highly nonlinear model are estimated using the genetic algorithm that is one of the global optimization techniques. The validity of the simulation model is verified by comparing the simulation results with the experimental results.