Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the fl...

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Main Authors: Leijie Jiang, Bingtuan Gao, Zhenyu Zhu
Format: Article
Language:English
Published: Hindawi Limited 2017-01-01
Series:Shock and Vibration
Online Access:http://dx.doi.org/10.1155/2017/2762169
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spelling doaj-199d22a3c9164e0d908fe73825e2c1a42020-11-25T01:03:41ZengHindawi LimitedShock and Vibration1070-96221875-92032017-01-01201710.1155/2017/27621692762169Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint RobotLeijie Jiang0Bingtuan Gao1Zhenyu Zhu2School of Electrical Engineering, Southeast University, Nanjing 210096, ChinaSchool of Electrical Engineering, Southeast University, Nanjing 210096, ChinaSchool of Electrical Engineering, Southeast University, Nanjing 210096, ChinaThe paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.http://dx.doi.org/10.1155/2017/2762169
collection DOAJ
language English
format Article
sources DOAJ
author Leijie Jiang
Bingtuan Gao
Zhenyu Zhu
spellingShingle Leijie Jiang
Bingtuan Gao
Zhenyu Zhu
Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
Shock and Vibration
author_facet Leijie Jiang
Bingtuan Gao
Zhenyu Zhu
author_sort Leijie Jiang
title Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
title_short Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
title_full Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
title_fullStr Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
title_full_unstemmed Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
title_sort design and nonlinear control of a 2-dof flexible parallel humanoid arm joint robot
publisher Hindawi Limited
series Shock and Vibration
issn 1070-9622
1875-9203
publishDate 2017-01-01
description The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.
url http://dx.doi.org/10.1155/2017/2762169
work_keys_str_mv AT leijiejiang designandnonlinearcontrolofa2dofflexibleparallelhumanoidarmjointrobot
AT bingtuangao designandnonlinearcontrolofa2dofflexibleparallelhumanoidarmjointrobot
AT zhenyuzhu designandnonlinearcontrolofa2dofflexibleparallelhumanoidarmjointrobot
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