Dynamics, multi-performance analysis and load experimental study of a 3-DOF over constrained robot with high energy efficiency for extracting fermented grains

IF 5.2 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2025-08-06 DOI:10.1016/j.robot.2025.105157

Yubin Zhang , Jinzhu Zhang , Xiaoyan Xiong , Shengxiang Liu , Hongjie Du , Yanjiang Huang

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引用次数: 0

Abstract

In this paper, a novel 3-DoF hybrid mechanism is presented, as the manipulator of the reclaiming robot for the extraction process of fermented grains (FG) of liquor. and the performance analysis and motion control are studied. The performance is evaluated from three dimensions: motion/force transmission characteristics, speed characteristics, and dynamic characteristics, and the redundant complementary driving characteristics of this mechanism were analyzed. For the multi-closed-loop over-constrained mechanism, all the driving/constraining forces and torques are determined using a method that combines the Newton-Euler equation and deformation coordination equation. Additionally, the prototype of the reclaiming robot for FG is developed. In the robot's control system design, a collision observer based on second-order momentum and an active contact self-aligning trajectory algorithm are designed for the actuator-cylinder centering. Furthermore, an adaptive robust controller is designed for motion control. Finally, the experiments are conducted to test the trajectory tracking performance and analyze the unmodeled dynamic characteristics, which also show the advantages of energy efficiency and load performance of the mechanism. This paper serves as a basis for the design and analysis of the robot's hybrid over-constrained mechanism and provides an idea for the realization of force detection and position control.

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高能效三自由度超约束发酵谷物提取机器人动力学、多性能分析及负载实验研究

本文提出了一种新型的三自由度混合机构，作为白酒醅提取过程中回收机器人的机械手。并对其性能分析和运动控制进行了研究。从运动/力传递特性、速度特性和动态特性三个方面对该机构的性能进行了评价，并对其冗余互补驱动特性进行了分析。对于多闭环过约束机构，采用牛顿-欧拉方程和变形协调方程相结合的方法确定了所有驱动/约束力和力矩。在此基础上，研制了FG回收机器人样机。在机器人控制系统设计中，设计了基于二阶动量的碰撞观测器和主动接触自对准轨迹算法，实现了作动器-气缸定心。在此基础上，设计了自适应鲁棒控制器进行运动控制。最后，通过实验对该机构的轨迹跟踪性能进行了测试，并对未建模的动态特性进行了分析，验证了该机构在能效和负载性能方面的优势。本文为机器人混合过约束机构的设计和分析提供了基础，为力检测和位置控制的实现提供了思路。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.