Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot

With the closed-loop structure, parallel manipulators possess some inherent advantages, such as high stiffness, enhanced dynamics, and compact structure. As a result, parallel manipulators gradually gain wide application. In the great variety of parallel manipulators, a kind of high-speed parallel robot, the limb of which is composed of active pendulum and passive parallelogram, gets popular and has realized industrial application firstly. Dynamic performance is the core of the high-speed parallel manipulator, which is usually illustrated through dynamic performance analysis with the aid of the index. Thus, developing reasonable dynamic performance indices is of great theoretical and practical significance for the high-speed parallel manipulator. In this paper, the Coefficient of Variation of joint-space Inertia (CVI) index is proposed to illustrate the acceleration consistency of each limb of the parallel manipulator. By taking the X4 high-speed pick-and-place parallel manipulator as object, the dynamic model and joint-space inertia matrix is established, and the dynamic performance analysis is carried out with the proposed CVI index and the existing Joint-Reflected Inertia (JRI) index. Simulation results illustrate changes of the dynamic performance of the X4 parallel manipulator, and reveal that the JRI index is well complemented with the CVI index. Finally, the workspace with good dynamic performance is discussed. This paper provides a new approach for dynamic analysis and optimal design of high-speed parallel manipulator. Limb Jacobian matrices of the X4 manipulator are given.Dynamic model and inertia matrix of the X4 manipulator are deduced.The CVI index is proposed to evaluate the dynamic performance.Dynamic performance of the X4 mahipulator is analyzed with indices.The workspace with good dynamic performance is disscussed.