Parallel Linkage Attitude Control for Load-Adaptive Vibration Suppression
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Solution Overview
Problem
Industrial equipment with parallel linkage mechanisms face limitations in weight-bearing capacity and rigidity due to increased link lengths, leading to reduced load capacity and increased vibrations during high-speed operations.
Innovation Solution
A control device with a parameter switcher that adjusts jerk and acceleration as a function of the load applied, using a parallel linkage mechanism with a parameter switcher to modify filter time constants and model following control gains, allowing for reduced vibrations and increased versatility in weight-bearing capacity without compromising speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the lengths of the links are increased to expand the range of motion, then the range of motion is improved, but the device becomes bulky and the rigidity is reduced
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting control parameters (jerk, acceleration, filter time constants, control gains) based on the load applied to the distal end member. This allows the system to maintain optimal performance across different operating conditions without physically changing the mechanism structure, thereby avoiding the need to increase link lengths while preserving rigidity.
2Adaptability or versatility
If the lengths of the links are increased to expand the range of motion, then the range of motion is improved, but the load capacity is reduced due to increased moment of inertia
Solution Approach 1:
The control device dynamically changes control parameters based on the applied load. When heavier loads are detected, the system adjusts jerk and acceleration parameters to maintain stability and performance, effectively compensating for the increased moment of inertia without requiring physical modifications to the link lengths.
3Object-affected harmful factors
If the jerk is decreased to suppress vibrations during high-speed operations, then the vibration level is reduced, but the commanded velocity may be reduced
Solution Approach 1:
The system dynamically adjusts jerk parameters based on the detected load conditions. When heavier loads are present, jerk is decreased to suppress vibrations, while the control system compensates by optimizing other parameters to maintain commanded velocity. This dynamic parameter adjustment allows the system to handle both high-speed operations and heavy loads effectively.
Data Source
AI summary
A control device controls an attitude control actuator by means of which a distal end member located on a link actuation device can be moved. A parallel linkage mechanism includes a proximal end-side link hub, a distal end-side link hub, and three linkages via which the distal end-side link hub is coupled to the proximal end-side link hub in such a manner that allows the attitude of the distal end-side link hub to change relative to the proximal end-side link hub. The control device includes a parameter switcher which switches control parameters to adjust the jerk of the attitude control actuator or the distal end member based on a load applied to the distal end member. The parameter switcher can switch more than one control parameter including at least one of the filter time constant of a moving average filter or a model following control gain.