Automated modeling of modular robotic configurations

Bi, Zhuming; Gruver, W.A.; Zhang, W. J.; Lang, Sherman Y. T.

doi:10.1016/j.robot.2006.04.017

Cited by 33 publications

(11 citation statements)

References 9 publications

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“…Some authors proposed some purely geometrical methods [16] and some methods based on lumped models [5], [17]. However, the analytical finite-element method allows a more accurate calculation of the platform situation because all possible deformation effects are taken into account [18], [19]. Thus, the final aim of the modeling is to obtain the platform position/orientation X = (P T φ T ) T under actuation redundancy.…”

Section: Methods Descriptionmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Écorchard

Neugebauer

Maurine

2010

Mechanism and Machine Theory

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To cite this version:Gaël Ecorchard, Reimund Neugebauer, Patrick Maurine. Elasto-geometrical modeling and calibration of redundantly actuated PKMs. Mechanism and Machine Theory, Elsevier, 2010, 45 (5) AbstractRedundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strains in their structure. This makes it difficult to identify the geometrical errors of their structure without taking into account the effects of the elastic deformations. The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism. The second part deals with its experimental application to the redundant Scissors Kinematic Machine.

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Section: Methods Descriptionmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Écorchard

Neugebauer

Maurine

2010

Mechanism and Machine Theory

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“…Numerous researches have been published on design and control reconfigurable systems to achieve these two objectives. For example, some previous works by this author on design and control of RMSs have been reported in literatures [38][39][40][41][42][43][44]. …”

Section: Premanufacturingmentioning

confidence: 99%

Revisiting System Paradigms from the Viewpoint of Manufacturing Sustainability

2011

Sustainability

123

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Abstract:A system paradigm is an abstract representation of system; it includes system architecture used to determine the types and numbers of components and their relations in the system. The design of system paradigm relies on customers' requirements and the characteristics of the manufacturing environment. Many system paradigms and design guidelines have been proposed for a variety of customers' needs including functions, cost, quality, personalization, and lead time of products. However, the consideration of sustainability becomes essential to today's manufacturing systems; a new challenge is how to evolve existing paradigms to accommodate the requirements of sustainability. In contrast to ample research activities on system paradigms in past decades, recent studies on system paradigms have been restricted, partially due to unclear research directions. Limited works can be found on conceiving new manufacturing system paradigms from the perspective of sustainability; most of the related literature concerns the new requirements of sustainability. The objectives of this work are (i) to examine the requirements of manufacturing systems in a wider scope; (ii) to revisit existing paradigms to clarify their limitations and bottlenecks; and eventually (iii) to identify some research directions, which will lead to a solution of sustainable manufacturing. To achieve these objectives, firstly, a brief description of today's manufacturing environment is provided. Secondly, the requirements of sustainability are discussed, and the relevant researches on system sustainability are surveyed. Thirdly, the reconfigurable system paradigm is focused, and the gaps between a reconfigurable manufacturing system and a sustainable manufacturing system are discussed. Finally, the future endeavors towards to the next-generation manufacturing system paradigms are discussed. OPEN ACCESSSustainability 2011, 3 1324

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“…10), which also forms the basis of the 3 DOF models for Cases 3.1, and 3.2, includes two different positive directions for each joint, which enables the robot to be reconfigurable. An automated method to build kinematic and dynamic models for modular robotic systems has been presented in [3]. This is a methodology that is applicable to any robotic configuration with a serial, parallel, or hybrid structure, but a unique model formulation must be developed and solved for each configuration.…”

Section: Dof Planar Robotmentioning

confidence: 99%

“…Combining Eqs (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18), the solution for the inverse kinematics is expressed in the following two equations: …”

Section: Inverse Kinematic Solution For the Planar 2 Dof Reconfigurabmentioning

confidence: 99%

Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Djuric

Urbanic

2009

ICA

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Simulation tools need to be developed to support modeling and product/process analysis activities for material deposition processes. The long term research goal is to develop a set of virtual modeling tools to support advanced tool motions and process planning strategies for this application. The goal of this research is to develop a reconfigurable robotic platform that can adapt alternative deposition strategies while respecting the unique process-related constraints for 2 1 /2 axis and 2 1 /2 axis + 2 axis tool paths. A variety of topologies are investigated. For the selected systems, a parametric kinematic, dynamic and control model is developed, and results presented for kinematic and dynamic reconfigurations. An adaptability assessment is performed to determine a relative effort measure to physically reconfigure a base platform to a potential new configuration. This combined with reviewing the modeling complexity issue, is used to determine an appropriate base platform. To simulate the process realistically using existing tools, a methodology is developed to illustrate material deposition in conjunction with the tool motions for the systems investigated.

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Automated modeling of modular robotic configurations

Cited by 33 publications

References 9 publications

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Revisiting System Paradigms from the Viewpoint of Manufacturing Sustainability

Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

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