scholarly journals Experimental studies of robotic assembly of precision parts

2021 ◽  
Vol 49 (1) ◽  
pp. 44-55
Author(s):  
Mikhail Polishchuk ◽  
M. Tkach
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Economic Effect ◽  
Experimental Studies ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Positioning Accuracy ◽  
Position Correction ◽  
The Cost

At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytical dependences of the assembly time on the scanning modes of the misalignment of assembly objects are given. The proposed high-speed method for compensating for the positioning error of an industrial robot makes it possible to assemble precision parts in a very short time within 1...3(s). The main economic effect of the research results is that the device for scanning the misalignment of assembly objects, which is installed on the arm of an inexpensive robot with a low positioning accuracy, can significantly increase the assembly speed and reduce capital investments in robotic assembly of high-precision parts.

scholarly journals Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 80 ◽  
Author(s):  
Doria ◽  
Cocuzza ◽  
Comand ◽  
Bottin ◽  
Rossi
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Machined Surface ◽  
End Effector ◽  
Chatter Vibrations ◽  
Modes Of Vibration ◽  
Machining Robot ◽  
Robot Performance

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed.

Development of the Industrial Robot Electric Drive Model

2021 ◽  
Vol 64 (6) ◽  
pp. 52-57
Author(s):  
Konstantin Litsin ◽  
◽  
Sergei Baskov ◽  
Yaroslav Makarov ◽  
◽  
...  
Keyword(s):  
Electric Drive ◽  
Robot Manipulator ◽  
Block Diagram ◽  
Industrial Robot ◽  
Permanent Magnet Synchronous Motor ◽  
Industrial Robots ◽  
Full Turn ◽  
Position Controller ◽  
Power Part ◽  
The Cost

Currently, the penetration of industrial robots into all sectors of the economy is increasing. However, there is an acute problem of conducting preliminary tests. The use of the digital twin as a replacement for the industrial robot is driven by high economic costs. In order to reduce the cost of the project, a solution is proposed to conduct preliminary tests on the developed model. The article developed a mathematical model of one of the drives of the industrial robot manipulator Yaskawa Motoman MH50-35. The model is suitable for researching the movement of the robot' tool. A mathematical description of a permanent magnet synchronous motor SGMJV-09A in a rotating coordinate system is given and a block diagram of the power part of the drive is made. A system for regulating the position of the robot's tool with a nonlinear position controller has been synthesized. Based on the results of modeling the operation of an electric drive in the Matlab Simulink environment, the degree of correspondence of the developed model to a real object was assessed and conclusions were drawn about the limits of its applicability for studying the operation of an electric drive of a robotic arm. The accuracy of working out the task for turning the wrist is 0.0001 rad, there is no overshoot in position, and the time for completing a full turn of the tool is 1.07 s.

EFFECT OF SERVO SYSTEMS ON THE CONTOURING ERRORS IN INDUSTRIAL ROBOTS

2012 ◽  
Vol 36 (1) ◽  
pp. 83-96 ◽  
Author(s):  
Mohamed Slamani ◽  
Albert Nubiola ◽  
Ilian A. Bonev
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Statistical Tests ◽  
Measurement Instrument ◽  
Servo System ◽  
Industrial Robots ◽  
Structural Vibration ◽  
Tool Centre Point ◽  
Prediction Capability ◽  
Radius Size

Two important aspects of the performance of a servo system, tracking errors and contour errors, significantly affect the accuracy of industrial robots under high-speed motion. Careful tuning of the control parameters in a servo system is essential, if the risk of severe structural vibration and a large contouring error is to be avoided. In this paper, we present an overview of a method to diagnose contouring errors caused by the servo control system of an ABB IRB 1600 industrial robot by measuring the robot’s motion accuracy in a Cartesian circular shape using a double ballbar (DBB) measurement instrument. Tests were carried out at different TCP (tool centre-point) speed and trajectory radii to investigate the main sources of errors that affect circular contouring accuracy. Results show that radius size errors and out-of-roundness are significant. A simple experimental model based on statistical tests was also developed to represent and predict the radius size error. The model was evaluated by comparing its prediction capability in several experiments. An excellent error prediction capability was observed.

HIGH-SPEED INDUSTRIAL REAL-TIME NETWORK OF CYBERPHYSICAL SYSTEMS

2019 ◽  
pp. 46-52
Author(s):  
A. A. Zelensky
Keyword(s):  
Real Time ◽  
Cycle Time ◽  
High Speed ◽  
High Efficiency ◽  
Industrial Robot ◽  
Field Tests ◽  
Industrial Robots ◽  
Third Party ◽  
Industrial Equipment ◽  
Industrial Automation

The construction of a high-speed industrial real-time network based on FPGA (Field-Programmable Gate Array) for the control of machines and industrial robots is considered. A brief comparative analysis of the performance of the implemented Ethernet-based Protocol with industrial protocols of other leading manufacturers is made. The aim of the research and development of its own industrial automation Protocol was to reduce the dependence on third-party real-time protocols based on Ethernet for controlling robots, machines and technological equipment. In the course of the study, the requirements for the network of the motion control system of industrial equipment were analyzed. In order to synchronize different network nodes and provide short exchange cycle time, an industrial managed switch was developed, as well as a specialized hardware controller for processing Ethernet packets for end devices, presented as a IP-core. A key feature of the developed industrial network is that the data transmission in it is completely determined, and the exchange cycle time for each of the network devices can be configured individually. High efficiency and performance of implemented network devices became possible due to the use of hardware solutions based on FPGAs. All solutions described in the article as part of a modular digital system have been successfully tested in the control of machines and industrial robot. The results of field tests show that the use of FPGAs and soft processors with specialized peripheral IP-blocks can significantly reduce the tact of managing industrial equipment through the use of hardware computing structures, which indicates the promise of the proposed approach for solving industrial automation tasks.

Control System Design for High Payload Industrial Robot via High Speed Communication Bus and Real-Time System

2011 ◽  
Vol 464 ◽  
pp. 272-278 ◽  
Author(s):  
Wei You ◽  
Min Xiu Kong ◽  
Li Ning Sun ◽  
Chan Chan Guo
Keyword(s):  
Control System ◽  
Real Time ◽  
High Speed ◽  
Industrial Robot ◽  
Engineering Application ◽  
Industrial Robots ◽  
Centralized Control ◽  
Time System ◽  
Real Time System ◽  
High Payload

In this paper, aiming at solving the problems of dynamic coupling effects and flexibility of joints and links, a kind of control system specialized for high payload industrial robots is proposed . After the comparisons between the control systems in all kinds of robots and numerical machines, industrial PC with TwinCAT real-time system is chosen as the motion control unit, EtherCAT is used for command transmitting. The whole control system has a decoupled and centralized control structure. The proposed control system is applied in control of a kind of high payload material handling robots with complex compound control algorithms. The final results shows that the control commands can be easily calculated and transmitted in one sample unit. The proposed control scheme is meaningful to real engineering application.

scholarly journals Compensation for absolute positioning error of industrial robot considering the optimized measurement space

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142092164
Author(s):  
Junde Qi ◽  
Bing Chen ◽  
Dinghua Zhang
Keyword(s):  
Industrial Robot ◽  
Measurement Data ◽  
Joint Space ◽  
Industrial Robots ◽  
Positioning Error ◽  
Positioning Accuracy ◽  
Decoupling Method ◽  
Absolute Positioning ◽  
Motion Characteristics ◽  
High Flexibility

Industrial robots are getting widely applied due to their low use-cost and high flexibility. However, the low absolute positioning accuracy limits their expansion in the area of high-precision manufacturing. Aiming to improve the positioning accuracy, a compensation method for the positioning error is put forward in terms of the optimization of the experimental measurement space and accurate modelling of the positioning error. Firstly, the influence of robot kinematic performance on the measurement accuracy is analysed, and a quantitative index describing the performance is adopted. On this basis and combined with the joints motion characteristics, the optimized measurement space in joint space as well as Cartesian space is obtained respectively, which can provide accurate measurement data to the error model. Then the overall model of the positioning error is constructed based on modified Denavit–Hartenberg method, in which the geometric errors and compliance errors are considered comprehensively, and an error decoupling method between them is carried out based on the error-feature analyses. Experiments on the KUKA KR210 robot are carried out finally. The mean absolute positioning accuracy of the robot increases from 1.179 mm to 0.093 mm, which verifies the effectiveness of the compensation methodology in this article.

scholarly journals Optimizing Industrial Robots for Accurate High-Speed Applications

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Hubert Gattringer ◽  
Roland Riepl ◽  
Matthias Neubauer
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Optimization Techniques ◽  
Industrial Robots ◽  
Industrial Control ◽  
Geometric Calibration ◽  
One Step ◽  
Point Trajectories ◽  
Optimal Efficiency ◽  
Point To Point

Today’s standard robotic systems often do not meet the industry’s demands for accurate high-speed robotic applications. Any machine, be it an existing or a new one, should be pushed to its limits to provide “optimal” efficiency. However, due to the high complexity of modern applications, a one-step overall optimization is not possible. Therefore, this contribution introduces a step-by-step sequence of multiple nonlinear optimizations. Included are optimal configurations for geometric calibration, best-exciting trajectories for parameter identification, model-based control, and time/energy optimal trajectory planning for continuous path and point-to-point trajectories. Each of these optimizations contributes to the improvement of the overall system. Existing optimization techniques are adapted and extended for use with a standard industrial robot scenario and combined with a comprehensive toolkit with discussions on the interplay between the separate components. Most importantly, all procedures are evaluated in practical experiments on a standard robot with industrial control hardware and the recorded measurements are presented, a step often missing in publications in this area.

scholarly journals Evaluating the use of human aware navigation in industrial robot arms

2021 ◽  
Vol 12 (1) ◽  
pp. 379-391
Author(s):  
Matthew Story ◽  
Cyril Jaksic ◽  
Sarah R. Fletcher ◽  
Philip Webb ◽  
Gilbert Tang ◽  
...  
Keyword(s):  
Science Fiction ◽  
Mobile Robotics ◽  
Industrial Robot ◽  
Lessons Learned ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Arm ◽  
Robot Arms ◽  
Safety Guidelines ◽  
Current Standards

Abstract Although the principles followed by modern standards for interaction between humans and robots follow the First Law of Robotics popularized in science fiction in the 1960s, the current standards regulating the interaction between humans and robots emphasize the importance of physical safety. However, they are less developed in another key dimension: psychological safety. As sales of industrial robots have been increasing over recent years, so has the frequency of human–robot interaction (HRI). The present article looks at the current safety guidelines for HRI in an industrial setting and assesses their suitability. This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics. This article highlights limitations in current research, where the relationships established in mobile robotics have not been carried over to industrial robot arms. To understand this, it is necessary to focus less on how a robot arm avoids humans and more on how humans react when a robot is within the same space. Currently, the safety guidelines are behind the technological advance, however, with further studies aimed at understanding HRI and applying it to newly developed path finding and obstacle avoidance methods, science fiction can become science fact.

scholarly journals Kinematic Analysis of 6 DOF Articulated Robotic Arm

2021 ◽  
pp. 1-5
Author(s):  
Aravinthkumar T ◽  
Suresh M ◽  
Vinod B
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Material Handling ◽  
Manufacturing Sector ◽  
Industrial Robot ◽  
Research Work ◽  
Industrial Robots ◽  
Robot Arm ◽  
Articulated Robot ◽  
Increasing Demand

The abstract must be a precise and reflection of what is in your article. Manufacturing sector is moving towards industry 4.0 and demands a high end of automation in the process. In which industrial robots play a fundamental role for automating the processes such as pick and place, material handling, palletizing, welding, painting, assembly lines and many more endless applications. Increasing demand and necessity made more research on industrial robots, machine learning and artificial intelligence. Better kinematic analysis of robots leads to reliable, high precise and fast responsive system. But there is an absence of India based robot manufacturers to fulfil the rising demand. Again, this situation leads to a market for foreign robot makers instead of local players. Lack of knowledge in robotics, unavailability of robot parts and resources are pain points for this cause. As researchers in this domain and have a goal to resolve this issue by providing open source, easily accessible industrial robot technical resources to everyone. This research work focuses the design and development of 6 Degrees of Freedom articulated robot arm with kinematic analysis particularly forward and inverse kinematics.

scholarly journals Industrial robot-based system design of thickness scanning measurement using ultrasonic

2021 ◽  
Vol 12 (1) ◽  
pp. 479-486
Author(s):  
Haibo Liu ◽  
Baoliang Liu ◽  
Meng Lian ◽  
Pingping Li ◽  
Tianran Liu ◽  
...  
Keyword(s):  
High Speed ◽  
Measurement Method ◽  
Industrial Robot ◽  
Thickness Measurement ◽  
Industrial Robots ◽  
Measurement Unit ◽  
Ultrasonic Probe ◽  
State Discrimination ◽  
Thin Walled ◽  
Ultrasonic Thickness

Abstract. Wall thickness is one of the core indicators for measuring the quality of large thin-walled parts such as rocket siding and aircraft skin. However, the traditional handheld thickness measurement method has high labor intensity, low efficiency and poor accuracy consistency. Therefore, an in situ ultrasonic automatic scanning thickness measurement method for large thin-walled parts based on industrial robots is proposed. This “industrial robot + ultrasound” integrated function is a compact system, and a set of innovative methodological or technical solutions is presented, such as (i) TCP and UDP communication protocols being constructed to realize a high-speed and stable communication relationship between the upper computer, robot motion controller and ultrasonic thickness measurement unit; (ii) a coupling gap adjustment method based on eddy-current sensors being adopted to ensure the adaptability of the ultrasonic probe to surface topography of the measured part during scanning measurement; and (iii) a multi-sensor coordinate unified model and coupling gap state discrimination model being established for robot-aided thickness measurement. To verify the feasibility of the proposed method, a series of calibrations and experiments were designed based on the KUKA robot platform and the developed ultrasonic pulse measurement system. Finally, the industrial robot-based ultrasonic thickness scanning measurement has been built and tested for performing the measurement of a rocket tank wall.

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