Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning accuracy, which leads to slight dimensional deviation on the final product. However, these machines have a restricted workspace generating limitations in the machining work. Conversely, ISR are typically characterized by a larger workspace. ISR have already shown satisfactory performance in tasks like polishing, grinding and deburring. This paper proposes a kinematic redundant robot composed of a novel two degrees-of-freedom mechanism with a closed-loop kinematic chain. After describing a task priority inverse kinematic control framework used for joint trajectory planning exploiting the robot kinematic redundancy, the paper analyses the kinetostatic performance of this robot depending on the considered control tasks. Moreover, two kinetostatic tasks are introduced and employed to improve the robot performance. Simulation results show how the robot better performs when the optimization tasks are active.

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“…It is actuated by two motors that provide two rotational motions. The NB-module geometric and kinematic models are analysed in [29]. 4.…”

Section: Nimbl'bot Module Overviewmentioning

confidence: 99%

“…The complete computation of these models is shown in [29]. Then, the first design of the "Nimbl'Bot robot" composed of a serial arrangement of ten mechanisms is described and tested by tracing several trajectories to analyze its kinetostatic performance.…”

Section: Introductionmentioning

confidence: 99%

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Ginnante

Caro

Simetti

et al. 2023

Journal of Mechanisms and Robotics

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“…The variable α represents the slope of the oblique plane that cuts the two tubes, set to 15 • for the rest of this paper. For more details, the NB-modules is described in [22,32].…”

Section: Mechanism Descriptionmentioning

confidence: 99%

“…The rotation angle is equal to the azimuth angle φ of the transformation matrix between the base frame to the end-effector frame. The azimuth angle φ can be obtained using the notation presented in [32]. Table 3 provides the test implementation details and values.…”

Section: Test Descriptionmentioning

confidence: 99%

Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method

Ginnante,

Caro,

Simetti

et al. 2023

Volume 8: 47th Mechanisms and Robotics Conference (MR)

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Determining the workspace of a robotic manipulator is extremely significant for knowing its abilities and planning the robot application. There exist several techniques for the robot workspace determination. However, these methods usually are affected by computational redundancy, like in the case of Monte Carlo based methods, or their implementation is difficult. Moreover, the workspace analysis of kinematic redundant manipulators is even more complex. This paper introduces a ray-based workspace determination algorithm, easy to implement and not affected by computational redundancy. The proposed method can be applied to any type of serial robot, but it is tested only on spatial kinematic redundant robots. The results show how the approach can clearly determine the boundary of the robot workspace in a short period of time. Finally the time and quality performance of the ray-based method results are compared to the Monte Carlo one demonstrating the improvement of the proposed method.

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Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators

Ginnante,

Caro,

Simetti

et al. 2024

Journal of Mechanisms and Robotics

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Determining the workspace of a robotic manipulator is highly significant for knowing its abilities and planning the robot application. Several techniques exist for robot workspace determination. However, these methods are usually affected by computational redundancy, like in the Monte Carlo based method case, and their implementation can be complex. The workspace analysis of kinematic redundant manipulators is even more complex. This paper proposes a kinematically optimized ray-based workspace determination algorithm based on a simple idea and not affected by computational redundancy. The proposed method can be applied to any serial robot but is tested only on spatial kinematic redundant robots. The results show how the approach can correctly determine the robot workspace boundaries in a short time. Then, the correctness and computational time of the proposed optimized ray-based method are compared to pseudo-inverse Jacobian ray-based and Monte Carlo methods. The comparison demonstrates that the proposed method has better results in a shorter time. Finally, some limitations of the proposed algorithm are discussed.

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Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Cited by 3 publications

References 16 publications

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method

Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators

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