Evaluation of the power consumption of a high-speed parallel robot
Gang HAN;Fugui XIE;Xin-Jun LIU
【期刊名称】《中国高等学校学术文摘·机械工程》 【年(卷),期】2018(013)002
【摘要】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 lowpower-consumption workspace is selected for the robot. 【总页数】12页(167-178) 【关键词】
【作者】Gang HAN;Fugui XIE;Xin-Jun LIU
【作者单位】The State Key Laboratory of Tribology & Institute of
Evaluation of the power consumption of a high-speed parallel robot
