Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing
M.J.J. Zomerdijk (TU Delft - Mechanical Engineering)
Volkert van der Wijk – Mentor (TU Delft - Mechatronic Systems Design)
J. L. Herder – Graduation committee member (TU Delft - Precision and Microsystems Engineering)
Jens Kober – Graduation committee member (TU Delft - Learning & Autonomous Control)
S. Caneva – Graduation committee member (TU Delft - BN/Cees Dekker Lab)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
High accelerations in unbalanced robotic manipulators can induce significant base vibrations, which reduces precision and increases settling time. These vibrations are caused by fluctuating reaction forces and reaction moments exerted on the base by the manipulator. Dynamic balancing eliminates these fluctuations and therefore improves performance. However, dynamic balancing, in general, comes at the cost of additional moving mass in the manipulator, which reduces controllability. Combining balancing with optimal controllability therefore requires an integral design approach. In this thesis, the controllability of multiple balancing principles are compared. Based on these findings a design for a balanced rotatable link will be presented, which aims to combine dynamic balancing with optimal controllability. Experimental verification of the balanced design showed a reduction of 99.3% in reaction forces and 97.8% in reaction moments compared to the unbalanced mechanism. Transverse tip accelerations up to 21 G are achieved in experiments, showing the potential for high acceleration applications.