Sliding Mode Control of a Drilling End-Effector with 3-SPR Parallel Mechanism

doi:10.1109/ICRAS.2018.8442397

IR > 机电工程学院

	Sliding Mode Control of a Drilling End-Effector with 3-SPR Parallel Mechanism
	Yan, Ge; Zhang, Laixi; Peng, Jun; Wang, Shuai
	2018-08-20
会议名称	2nd International Conference on Robotics and Automation Sciences, ICRAS 2018
会议录名称	2018 2nd International Conference on Robotics and Automation Sciences, ICRAS 2018
页码	175-178
会议日期	June 23, 2018 - June 25, 2018
会议地点	Wuhan, China
出版者	Institute of Electrical and Electronics Engineers Inc.
摘要	The robotic drilling is receiving considerable attention and eliciting widespread interest in aircraft assembly. However, the drilling end-effector with serial mechanism has better kinematics performance but worse dynamic performance. A robotic drilling end-effector based on 3-SPR parallel mechanism is proposed and afterward its normal adjustment is dynamically modeled. A sliding mode variable structure controller based on component reaching law is proposed for its normal adjustment control, simulation experiment is carried out on this designed end-effector and the simulation results show that the presented control scheme has strong robustness and adaptiveness to the non-linear factors such as non-determinacy of model and system parameter variations. © 2018 IEEE.
关键词	Infill drilling Mechanisms Robotic assembly Robotics Sliding mode control Aircraft assemblies Dynamic performance Dynamical model Kinematics performance Mode control Nonlinear factors Parallel mechanisms Sliding mode variable structure
DOI	10.1109/ICRAS.2018.8442397
收录类别	EI
语种	英语
EI入藏号	20183805841945
EI主题词	End effectors
来源库	Compendex
分类代码	511.1 Oil Field Production Operations - 601 Mechanical Design - 601.3 Mechanisms - 731.1 Control Systems - 731.5 Robotics
引用统计	无
文献类型	会议论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/117912
专题	机电工程学院
作者单位	Lanzhou University of Technology, Lanzhou, School of Mechanical Electronical Engineering, Lanzhou, China
第一作者单位	兰州理工大学
推荐引用方式 GB/T 7714	Yan, Ge,Zhang, Laixi,Peng, Jun,et al. Sliding Mode Control of a Drilling End-Effector with 3-SPR Parallel Mechanism[C]:Institute of Electrical and Electronics Engineers Inc.,2018:175-178.