Current Science

Open Access Open Access  Restricted Access Subscription Access

Trajectory Planning of Parallel Mechanism for Pouring Robot


Affiliations
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
2 College of Mechanical Engineering, Anhui University of Science and Technology, Huainan, 232001, China
 

Aiming at the problem of singular area in the working space when designing the parallel casting mechanism of the pouring robot, and the sensitivity of the pouring liquid to acceleration of the ladle, we propose a genetic fusion algorithm of particle swarm optimization with angle and distance observers to find the optimal control point. Numerical analysis shows that it is feasible to change the tilting angle of the ladle to make it traverse the singular regions safely. According to the simplified method of single pendulum, the sloshing model of pouring liquid is established, and the segmented acceleration planning method considering the sloshing of pouring liquid is proposed in combination with the characteristics of high-speed cam motion. Numerical and experimental studies show that the segmented acceleration planning method can make the parallel pouring mechanism reach the set position in the shortest time while moving along the planned trajectory, and ensure that the sloshing of pouring liquid is within the safe range.

Keywords

Parallel Mechanism, Pouring Robot, Singularity, Sloshing Model, Trajectory Planning.
User
Notifications
Font Size

  • Kozuszek, K., Robotic problem solving. Mod. Cast., 2006, 96(4), 24–28.

  • Terashima, K., Recent automatic pouring and transfer system in foundries. Sokeizai, 1998, 39, 1–8.

  • Wang, C., Li, L., Guo, Y. and Sheng, Y., Hybrid trussed mobile heavy duty casting robot, China Patent 201710-682226.8, 2017.

  • Chettibi, T., Lehtihet, H. E., Haddad, M. and Hanchi, S., Minimum cost trajectory planning for industrial robots. Eur. J. Mech., 2004, 23(4), 40703–40715.

  • Constantinescu, D. and Croft, E. A., Smooth and time‐optimal trajectory planning for industrial manipulators along specified paths. J. Rob. Syst., 2000, 17(5), 233–249.

  • Park, J. and Bobrow, J. E., Reliable computation of minimum‐time motions for manipulators moving in obstacle fields using a successive search for minimum‐overload trajectories. J. Field Robot., 2005, 22(1), 1–14.

  • Dasgupta, B., Singularity-free planning for the Stewart platform manipulator. Mech. Mach. Theory, 1998, 33, 771–725.

  • Abdellatif, H. and Heimann, B., Adapted time-optimal trajectory planning for parallel manipulators with full dynamic modeling. In Proceedings of the 2005 IEEE International Conference on Robotics and Automotion, Barcelona, Spain, 2005.

  • Pugazhenthi, S., Nagarajan, T. and Singaperumal, M., Optimal trajectory planning for a hexapod machine tool during contour machining. Proc. Inst. Mech. Eng., Part C, 2002, 216(12), 1247– 1257.

  • Sen, S., Dasgupta, B. and Mallik, A. K., Variational approach for singularity-free path-planning of parallel manipulators. Mech. Mach. Theory, 2003, 38(11), 1165–1183.

  • Afroun, M., Chettibi, T. and Hanchi, S., Planning optimal motions for a DELTA parallel robot. In Proceedings of the 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006.

  • Terashima, K., Kaneshige, A., Koyamatsu, H., Yamaura, K., Ronda, W. Y. and Inagaki, T., Modeling and motion control of fluid behavior in automatic pouring system. IFAC Proc. Vol., 1996, 29(1), 6197–6202.

  • Terashima, K., Hamaguchi, M. and Yamaura, K., Modeling and input shaping control of liquid vibration for an automatic pouring system. In Proceedings of 35th IEEE Conference on Decision and Control, Kobe, Japan, 1996.

  • Hamaguchi, M., Yamamoto, M. and Terashima, K., Modeling and control of sloshing with swirling in a cylindrical container during a curved path transfer. In Proceedings of the 2nd Asian Control Conference, Tokyo, Japan, 1997.

  • Yamagata, H. and Kaneko, S., Sloshing suppression control of contained liquid in a moving cylindrical container. Trans. JSME, 1997, 64(621), 671–674.

  • Yano, K. I. and Terashima, K., Robust liquid container transfer control for complete sloshing suppression. IEEE Trans. Control Syst. Technol., 2001, 9(3), 483–493.

  • Li, L., Wang, C. and Wu, H., Research on kinematics and pouring law of a mobile heavy load pouring robot. Math. Prob. Eng., 2018, 2018, 1–13.

  • Pan, X. and Xu, Y. Figures selecting the basin in investment casting. Special-Cast Non-ferrous Alloys, 1996, 5, 34–36.

  • Binjie, M. and Hong, L., Analysis of harmonic response of liquid sloshing. Missiles Space Vehic., 2005, 1, 008.

  • Chen, J., Zhu, H., Zhang, L. and Sun, Y., Research on fuzzy control of path tracking for underwater vehicle based on genetic algorithm optimization. Ocean Eng., 2018, 156, 217–223.

  • Zhang, C. (ed.), High-speed CAM mechanism commonly used movement law. In Mechanical Dynamics, Higher Education Press, China, 2008, pp. 137–143.


Abstract Views: 335

PDF Views: 102




  • Trajectory Planning of Parallel Mechanism for Pouring Robot

Abstract Views: 335  |  PDF Views: 102

Authors

Long Li
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
Chengjun Wang
College of Mechanical Engineering, Anhui University of Science and Technology, Huainan, 232001, China
Hongtao Wu
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

Abstract


Aiming at the problem of singular area in the working space when designing the parallel casting mechanism of the pouring robot, and the sensitivity of the pouring liquid to acceleration of the ladle, we propose a genetic fusion algorithm of particle swarm optimization with angle and distance observers to find the optimal control point. Numerical analysis shows that it is feasible to change the tilting angle of the ladle to make it traverse the singular regions safely. According to the simplified method of single pendulum, the sloshing model of pouring liquid is established, and the segmented acceleration planning method considering the sloshing of pouring liquid is proposed in combination with the characteristics of high-speed cam motion. Numerical and experimental studies show that the segmented acceleration planning method can make the parallel pouring mechanism reach the set position in the shortest time while moving along the planned trajectory, and ensure that the sloshing of pouring liquid is within the safe range.

Keywords


Parallel Mechanism, Pouring Robot, Singularity, Sloshing Model, Trajectory Planning.

References





DOI: https://doi.org/10.18520/cs%2Fv116%2Fi11%2F1829-1839