scholarly journals Modeling of Laterally Sliding Motion of a Magnetic Clamp

2015 ◽  
Vol 2015 ◽  
pp. 1-8
Author(s):  
A. Mahmud ◽  
J. R. R. Mayer ◽  
L. Baron
Keyword(s):  
Transfer Function ◽  
Permanent Magnet ◽  
Industrial Robot ◽  
Motion Model ◽  
End Effector ◽  
Magnetic Stiffness ◽  
Sliding Motion ◽  
Thin Aluminum ◽  
Milling Operation ◽  
Master Module

A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.

Finding Features of Positioning Error for Large Industrial Robots Based on Convolutional Neural Network

2021 ◽  
Author(s):  
Daiki Kato ◽  
Kenya Yoshitugu ◽  
Naoki Maeda ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
...  
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Production Systems ◽  
Industrial Robot ◽  
Three Dimensional ◽  
Industrial Robots ◽  
Numerical Control ◽  
Robot Motion ◽  
Positioning Error ◽  
End Effector

Abstract Most industrial robots are taught using the teaching playback method; therefore, they are unsuitable for use in variable production systems. Although offline teaching methods have been developed, they have not been practiced because of the low accuracy of the position and posture of the end-effector. Therefore, many studies have attempted to calibrate the position and posture but have not reached a practical level, as such methods consider the joint angle when the robot is stationary rather than the features during robot motion. Currently, it is easy to obtain servo information under numerical control operations owing to the Internet of Things technologies. In this study, we propose a method for obtaining servo information during robot motion and converting it into images to find features using a convolutional neural network (CNN). Herein, a large industrial robot was used. The three-dimensional coordinates of the end-effector were obtained using a laser tracker. The positioning error of the robot was accurately learned by the CNN. We extracted the features of the points where the positioning error was extremely large. By extracting the features of the X-axis positioning error using the CNN, the joint 1 current is a feature. This indicates that the vibration current in joint 1 is a factor in the X-axis positioning error.

scholarly journals Bursting Oscillations and Sliding Motion in Permanent Magnet Synchronous Motor Systems with Friction Factor

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Rui Qu ◽  
Shaolong Li
Keyword(s):  
Permanent Magnet ◽  
Friction Factor ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Governing Equations ◽  
Bursting Oscillations ◽  
Sliding Motion ◽  
Friction Function ◽  
Filippov Type ◽  
Theoretical Results

The main purpose of this paper is to investigate the qualitative effects of external excitation and friction factor on the response of permanent magnet synchronous motor (PMSM) system. Three different modes of bursting oscillations are found. In particular, the introduction of friction function changes the governing equations from a smooth type to a nonsmooth (Filippov) type in which the special sliding motion is observed. The mechanism, attractor structure, vector field structure, and analytic bifurcation conditions of bursting oscillation and sliding motion are discussed in detail. The validity of theoretical results obtained is verified by numerical simulations and analysis.

scholarly journals Modular fastening system and tool–holder working unit for incremental forming

2019 ◽  
Vol 299 ◽  
pp. 05005
Author(s):  
Melania Tera ◽  
Claudia–Emilia Gîrjob ◽  
Cristina–Maria Biriș ◽  
Mihai Crenganiș
Keyword(s):  
Machine Tools ◽  
Incremental Forming ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cnc Milling ◽  
End Effector ◽  
Tool Holder ◽  
Cnc Milling Machine ◽  
Milling Machines ◽  
Sheet Metal Workpiece

Incremental forming can be usually unfolded either on CNC milling machine–tools or serial industrial robots. The approach proposed in this paper tackles the problem of designing a modular fastening system, which can be adapted for both above mentioned technological equipment. The fastening system of the sheet–metal workpiece is composed of a fixing plate and a retaining plate. The fixing and retaining plates will be made up of different individual elements, which can be easily repositioned to obtain different sizes of the part. Moreover, the fastening system has to be able to be positioned either horizontally (to be fitted on CNC milling machines) or vertically (to be fitted on industrial robots. The paper also presents the design of a tool–holder working unit which will be fitted on KUKA KR 210 industrial robot. The working unit will be mounted as end–effector of the robot and will bear the punch, driving it on the processing toolpaths.

scholarly journals Magnetowetting and Sliding Motion of a Sessile Ferrofluid Droplet in the Presence of a Permanent Magnet

Langmuir ◽  
2010 ◽  
Vol 26 (15) ◽  
pp. 12553-12559 ◽  
Author(s):  
Nam-Trung Nguyen ◽  
Guiping Zhu ◽  
Yong-Chin Chua ◽  
Vinh-Nguyen Phan ◽  
Say-Hwa Tan
Keyword(s):  
Permanent Magnet ◽  
Sliding Motion

scholarly journals Online pose correction of an industrial robot using an optical coordinate measure machine system

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141878791 ◽  
Author(s):  
Sepehr Gharaaty ◽  
Tingting Shu ◽  
Ahmed Joubair ◽  
Wen Fang Xie ◽  
Ilian A Bonev
Keyword(s):  
Root Mean Square ◽  
Spot Welding ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Mean Square ◽  
End Effector ◽  
Proportional Integral ◽  
Accuracy Requirement ◽  
Robot Controller ◽  
Correction Scheme

In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The developed dynamic pose correction scheme has been tested on two industrial robots, FANUC LR Mate 200iC and FANUC M20iA. The experimental results on both robots demonstrate that the robots can reach the desired pose with an accuracy of ±0.050 mm for position and ±0.050° for orientation. As a result, the developed pose correction can make the industrial robots meet higher accuracy requirement in the applications such as riveting, drilling, and spot welding.

SEVERAL DESIGN ISSUES ON THE TUNABLE ELECTROMAGNETIC VIBRATION ABSORBER

2005 ◽  
Vol 29 (4) ◽  
pp. 655-668 ◽  
Author(s):  
Jie Liu ◽  
Kefu Liu
Keyword(s):  
Permanent Magnet ◽  
Approximation Error ◽  
Vibration Absorber ◽  
Primary System ◽  
Design Issues ◽  
Cross Sectional ◽  
Magnetic Stiffness ◽  
Electromagnetic Vibration ◽  
Aluminum Beam ◽  
Flux Density Distribution

This paper addresses several design issues related to a newly developed electromagnetic vibration absorber (EMVA). The EMVA consists of a clamped-clamped aluminum beam and a permanent magnet that is embedded in the centre of the beam and placed between two poles of a C-shaped electromagnet. By varying the current of the electromagnet, stiffness of the EMVA can be adjusted instantaneously. The EMVA is capable of suppressing vibration of the primary system excited by a harmonic force with a variable frequency. First a simplified equation is proposed to compute the flux density distribution in the gap of the electromagnet. The approximation error caused by the simplification is investigated. Second, the effect of cross-sectional shapes of the permanent magnet on the variable magnetic stiffness and the constant magnetic stiffness is examined. Finally, the effect of the gap spaces of the electromagnet on the variable magnetic stiffness is studied.

Design and Fabrication of Flexible Three Link Manipulator for Pick and Place Application

2014 ◽  
Vol 592-594 ◽  
pp. 2134-2138
Author(s):  
S.K. Naveen ◽  
Kumaar Devaraj Rajesh ◽  
P. Pal Pandian
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Lower Energy ◽  
High Speed ◽  
Good Accuracy ◽  
Industrial Robot ◽  
Flexible Manipulator ◽  
End Effector ◽  
Unstructured Environments ◽  
Pick And Place

Flexibility plays a key role in robot based applications, where the ability to perform complex tasks in semi structured or even unstructured environments is strategic.Most industrial robot operates inside a security fence which separates them from human workers, but not all. Flexibility, lightness in relation to the mass to be displaced and energy efficiency are acquiring increasing significance in automation. We can achieve higher performance in robots by optimizing the parameters like high-speed operation, lower energy consumption, lighter weight and safer operation. In this paper a pick and place robot is designed and developed to achieve effective automation with higher safety and with greater ease. The main objectives of designing this flexible manipulator are to reduce its mass and to minimize its vibrations in the end-effector, which enhances good accuracy in positioning.This can be achieved by bringing down the number of working components and jointswhich reduce various losses. The greater mass can be transferred from one place to another place with relatively lesser mass of flexible three link manipulator. The various problems were encountered and rectified during the design and fabrication of flexible three link manipulator for pick and place application.

Kinematic Analysis of Robotic Bevel-Gear Trains

1984 ◽  
Vol 106 (3) ◽  
pp. 371-375 ◽  
Author(s):  
F. Freudenstein ◽  
R. W. Longman ◽  
C.-K. Chen
Keyword(s):  
Kinematic Analysis ◽  
Industrial Robot ◽  
General Procedure ◽  
Bevel Gear ◽  
Degree Of Freedom ◽  
Gear Train ◽  
End Effector ◽  
Gear Trains ◽  
Three Degree Of Freedom

A general procedure has been developed for the kinematic analysis of complex bevel-gear trains in which the motion of the arm can be of mobility two or greater (i.e. the arm can rotate about two or more nonparallel, intersecting axes). The analysis of a three-degree-of-freedom gear train used in guiding the motion of the end effector of a recently developed industrial robot is described in detail.

Design, testing and evaluation of an end-effector for self-relocation

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2689-2728 ◽  
Author(s):  
Feng Han ◽  
Kui Sun ◽  
Yu Liu ◽  
Hong Liu
Keyword(s):  
Degrees Of Freedom ◽  
Physical Simulation ◽  
Industrial Robot ◽  
Space Environment ◽  
Air Bearing ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Soft Capture ◽  
End Effectors ◽  
Prototype Design

SUMMARYTwo identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.

Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 447-466 ◽  
Author(s):  
Albert Nubiola ◽  
Mohamed Slamani ◽  
Ahmed Joubair ◽  
Ilian A. Bonev
Keyword(s):  
Industrial Robot ◽  
Laser Tracker ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Absolute Accuracy ◽  
Parameter Calibration ◽  
End Effector ◽  
Coordinate Measurement ◽  
Measurement Systems ◽  
Calibration Methods

SUMMARYThe absolute accuracy of a small industrial robot is improved using a 30-parameter calibration model. The error model takes into account a full kinematic calibration and five compliance parameters related to the stiffness in joints 2, 3, 4, 5, and 6. The linearization of the Jacobian is performed to iteratively find the modeled error parameters. Two coordinate measurement systems are used independently: a laser tracker and an optical CMM. An optimized end-effector is developed specifically for each measurement system. The robot is calibrated using fewer than 50 configurations and the calibration efficiency validated in 1000 configurations using either the laser tracker or the optical CMM. A telescopic ballbar is also used for validation. The results show that the optical CMM yields slightly better results, even when used with the simple triangular plate end-effector that was developed mainly for the laser tracker.

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