Inertia (mass distribution) affects the dynamic performance of the parallel robot significantly and is an important factor influencing the vibration control effect of the fine-tuning Stewart platform. Inertia matching means the ratio of the mechanism inertia converted to the motor shaft to the motor inertia is within the proper range, in order to give full play to the motor capacity and ensure the dynamic performance of the robot. Inertia matching involves such engineering design issues as the driving motor and transmission chain selection. This chapter adopts the virtual work principle to derive the joint-space inertia matrix of the Stewart parallel mechanism, analyzes the coupling of the inertia matrix, and proposes the equivalent inertia index. Then, the distribution of the equivalent inertia is analyzed. Finally, the inertia matching principle is determined, through comprehensive consideration of mechanical vibration frequency, acceleration and deceleration capacities and dynamic performance of the limb of the Stewart mechanism. The ratio of the equivalent inertia to motor inertia is best to be ensured within the range of 1:1–2:1.
Inertia Matching of Parallel Robots
Research and Application of Cable-Driven and Rigid Parallel Robots ; Chapter : 9 ; 179-207
2024-02-01
29 pages
Article/Chapter (Book)
Electronic Resource
English
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