Sliding Mode Control of a Drilling End-Effector with3-SPR Parallel Mechanism

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	Sliding Mode Control of a Drilling End-Effector with3-SPR Parallel Mechanism
	Yan, Ge; Zhang, Laixi; Peng, Jun; Wang, Shuai
	2018
关键词	3-SPR mechanism robotic drilling dynamical model slide mode control
页码	175-178
英文摘要	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.
会议录	2018 2ND INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
资助项目	National Natural Science Foundation of China[51765031] ; Natural Science Foundation of Gansu Province, China[1508RJZA075]
WOS研究方向	Automation & Control Systems ; Robotics
WOS记录号	WOS:000448468100034
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36130]
专题	机电工程学院
通讯作者	Zhang, Laixi
作者单位	Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou, Gansu, Peoples R China
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 with3-SPR Parallel Mechanism[C]. 见:.