By taking a 2-DOF high-speed translational parallel manipulator as an object of study, this paper presents an approach that enables the servomotor parameters of parallel robots for pick-and-place operations to be estimated in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device for the rechargeable battery quality inspection.
Issue Section:
Technical Papers
Keywords:
parameter estimation,
quality control,
end effectors,
servomotors,
singular value decomposition,
materials handling equipment,
secondary cells,
inspection,
Parallel Robot,
Inverse Dynamics,
Servomotor Parameters
Topics:
Robots,
Servomotors,
Torque,
Inertia (Mechanics),
End effectors,
Inspection,
Secondary cells
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