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CAD-based approach for identification of elasto-static parameters of robotic manipulators
TL;DR: In this paper, an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment is presented, based on the numerical processing of the data extracted from the finite element analysis results, which are obtained for isolated manipulator links.
Abstract: The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite element analysis results, which are obtained for isolated manipulator links. This approach allows to obtain the desired stiffness matrices taking into account the complex shape of the links, couplings between rotational/translational deflections and particularities of the joints connecting adjacent links. These matrices are integral parts of the manipulator lumped stiffness model that are widely used in robotics due to its high computational efficiency. To improve the identification accuracy, recommendations for optimal settings of the virtual experiments are given, as well as relevant statistical processing techniques are proposed. Efficiency of the developed approach is confirmed by a simulation study that shows that the accuracy in evaluating the stiffness matrix elements is about 0.1%.
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TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
123 citations
Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
108 citations
TL;DR: In this paper, the main focus is made on robot accuracy in milling operation and evaluation robot capacity to perform the machining task with desired precision, with particular attention paid to the proper modeling of manipulator stiffness properties and the cutting force estimation.
Abstract: The paper is devoted to the robotic based machining. The main focus is made on robot accuracy in milling operation and evaluation robot capacity to perform the task with desired precision. Particular attention is paid to the proper modeling of manipulator stiffness properties and the cutting force estimation. In contrast to other works, the robot performance is evaluated using the circularity norm that evaluates the contortion degree of the benchmark circle to be machined. The developed approach is applied to five industrial robots of KUKA family, which have been ranked for several machining tasks. The validity of the proposed technique was confirmed by experimental study dealing with robot-based machining of circular grooves for several workpiece samples and different locations.
106 citations
TL;DR: Recent progress in robotic machining has been summarized, such as kinematic calibration and compliance error compensation to improve the accuracy of roboticMachining.
Abstract: The use of industrial robots is widespread in diverse manufacturing fields. Hence, there have been attempts to use robot for machining processes instead of machine tools. However, limited machining accuracy has been a major obstacle hampering the adoption of robotic machining systems. Recently, substantial research has been carried out to address this issue. In this paper, recent progress in robotic machining has been summarized, such as kinematic calibration and compliance error compensation to improve the accuracy of robotic machining. Auxiliary units for improving the performance of robotic machining systems are also discussed.
66 citations
References
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Book•
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31 Jul 2000
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Abstract: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid,and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent.The reference section has been updated to include around 45% new works that appeared after the first edition.
2,137 citations
01 Dec 1980
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.
Abstract: A method of actively controlling the apparent stiffness of a manipulator end effecter is presented. The approach allows the programmer to specify the three transnational and three rotational stiffness of a frame located arbitrarily in hand coordinates. Control of the nominal position of the hand then permits simultaneous position and force control. Stiffness may be changed under program control to match varying task requirements. A rapid servo algorithm is made possible by transformation of the problem into joint space at run time. Applications examples are given.
1,212 citations
25 Apr 2020
759 citations
01 Nov 1995
TL;DR: In this article, the authors deal with robots such as remote manipulators, multifingered hands, walking machines, flight simulators, and wheeled vehicles that rely on mechanical systems to perform their tasks.
Abstract: From the Publisher:
This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and wheeled vehicles-that rely on mechanical systems to perform their tasks.
696 citations
01 Jun 1990
TL;DR: The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator, which reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulation.
Abstract: Mechanical systems containing closed-loop kinematic chains can exhibit special types of singularities that result in a loss of controllability of the element of interest (output link or gripper link). Therefore, it is very important for the designer to be able to predict this type of behavior. The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator. A method for obtaining these maps for planar and spatial parallel manipulators is presented. The maps reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulator. >
515 citations