Dynamics Modeling of Dual-Drive H-type Cartesian Robot with Replaceable Flexible Joints Based on the Pseudo-Rigid-Body Model

The H-type Cartesian robot is widely used in highspeed and high-precision industrial automation and intelligent manufacturing. A dual-drive H-type Cartesian robot with a pair of replaceable flexible joints on two ends of its cross-beam is designed. Such design effectively reduces the concentrated stress at the junctions between moving carriages and the cross beam during high-speed repetitive motion. To correctly access the degree of freedom of the stage, the prismatic-revolute pseudo-rigid-body model is developed to equivalently replace the flexible joint. In this way, the semi-analytical dynamic model is derived by the Lagrange method with the correct setting of the generalized coordinates. The parameters in the model are identified based on the data-driven approach. Simulation results in both RecurDyn and MATLAB/Simulink cross-validate the accuracy of the model.