Balancing of the Orthoglide taking into account its varying payload

Jing Geng (1, 2) , Vigen Arakelian (1, 2) , Damien Chablat (3, 1) , Philippe Lemoine (1, 4)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 LS2N - équipe ReV - Robotique Et Vivant
4 ECN - École Centrale de Nantes

For the fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force, fully or partially, the dynamic characteristics of the robot system can be improved. However, the complete inertial force and inertial moment balancing can only be achieved by adding extra counterweight and counter-rotation systems, which largely increases the total mass, overall size, and complexity of robots. In order to avoid these inconveniences, an approach based on the optimal motion control of the center of mass is applied for the shaking force balancing of the robot Orthoglide. The application of the "Bang-bang" motion profile on the common center of mass allows a considerable reduction of the acceleration of the total mass center which results in the reduction of the shaking force. With the proposed method, the shaking force balancing of the Orthoglide is carried out taking into account the varying payload. Note that such a solution by purely mechanical methods is complex and practically inapplicable for industrial robots. The simulations in ADAMS software validate the efficiency of the suggested approach.

Mots clés: balancing; shaking force; center of mass; optimal control; "bang-bang" motion profile

Domaines: Robotique [cs.RO]

Jing Geng, Vigen Arakelian, Damien Chablat, Philippe Lemoine. Balancing of the Orthoglide taking into account its varying payload. Robotics, 2021, 10 (1), pp.30. ⟨10.3390/robotics10010030⟩. ⟨hal-03144744⟩