Design and kinematics analysis of the executing device of heavy-duty casting robot

Wang, Chengjun; Xu, Chengke; Li, Long; Hu, Haixiao; Guo, Yongcun

doi:10.1177/1729881419895082

Cited by 4 publications

(4 citation statements)

References 13 publications

(15 reference statements)

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“…In Figure 5, taking a type of aperiodic deceleration band input model as an example (equation (9)), it can be seen that the vibration of the ladle is compound vibration, and the acceleration and displacement changes are irregular, the maximum displacement and acceleration are 0.15 m and 10 m/s 2 , respectively, and the amplitude fluctuates sharply. When the pouring robot is working on this kind of road surface, the vibration of the ladle will inevitably cause the vibration of the molten metal, in severe cases, it will cause a spill accident.…”

Section: Vibration Model Of Parallel Pouring Robotmentioning

confidence: 99%

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Research on dynamics of hybrid pouring robot and attitude stability control of ladle

Wang

Guo

et al. 2020

Measurement and Control

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In this paper, the vibration characteristics of the designed hybrid truss-type movable heavy-load pouring robot (pouring robot) and the pose control of the parallel working arm are studied. The dynamic-static method is used to simplify the truss and parallel working arm of the pouring robot into a forced vibration system composed of spring, damping, and mass body, based on this the 9-degree-of-freedom vibration equation of the pouring robot is established, the analysis of the amplitude–frequency characteristics shows that the four input vibrations of the pavement have basically the same influence on the ladle, which will cause the ladle to resonate. Kane’s method is used to establish the lower mobility dynamic equation of the parallel working arm, the Jacobian matrix of force-driven and torque-driven coupling are given. Based on the vibration characteristics of the pouring robot and the dynamic model of the parallel working arm, an adaptive sliding mode control method with radial basis function neural network compensator and Newton–Euler iterative estimator are proposed to realize the pose control of the ladle, the Lyapunov theorem proves the stability of the control method, the simulation results show that adaptive sliding mode control has better control performance, faster response speed, higher convergence accuracy, and better robustness than traditional sliding mode control algorithm. The paper provides a reference and research basis for the suppression of ladle vibration when the pouring robot is transferred, which is affected by the road roughness.

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Section: Vibration Model Of Parallel Pouring Robotmentioning

confidence: 99%

“…1 In this paper, a hybrid truss-type movable heavy-loading pouring robot is designed using the characteristics of strong load capacity of parallel mechanism, which can realize the adaptability and flexibility requirements of casting equipment in the production of multi-variety small batch products. 2…”

Section: Introductionmentioning

confidence: 99%

Research on dynamics of hybrid pouring robot and attitude stability control of ladle

Wang

Guo

et al. 2020

Measurement and Control

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“…Deep learning techniques to realize autonomous robot pouring have inherent black-box effects and require a large amount of demonstration data for model training [30], which will no longer be adaptable when the scene is changed. Zhang DD proposes an explainable hierarchical imitation learning method that enables the robot to learn high-level common sense and perform low-level actions in multiple drink-pouring scenarios [31]. In addition, the proposed method has the ability to adapt to new scenes.…”

Section: Introductionmentioning

confidence: 99%

Design, simulation, control of a hybrid pouring robot: enhancing automation level in the foundry industry

Chengjun,

Hao,

Long

2024

Robotica

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Currently, workers in sand casting face harsh environments and the operation safety is poor. Existing pouring robots have insufficient stability and load-bearing capacity and cannot perform intelligent pouring according to the demand of pouring process. In this paper, a hybrid pouring robot is proposed to solve these limitations, and a vision-based hardware-in-the-loop (HIL) control technology is designed to achieve the real-time control problems of simulated pouring and pouring process. Firstly, based on the pouring mechanism and the motion demand of ladle, a hybrid pouring robot with a 2UPR-2RPU parallel mechanism as the main body is designed. And the equivalent hybrid kinematic model was established by using Eulerian method and differential motion. Subsequently, a motion control strategy based on HIL simulation technique was designed and presented. The working space of the robot was obtained through simulation experiments to meet the usage requirements. And the stability of the robot was tested through the key motion parameters of the robot joints. Based on the analysis of pouring quality and trajectory, optimal dynamic parameters for the experimental prototype are obtained through water simulation experiments, the pouring liquid height area is 35–40 cm, the average flow rate of pouring liquid is 112 cm3/s, and the ladle tilting speed is 0.0182 rad/s. Experimental results validate the reasonableness of the designed pouring robot structure. Its control system realizes the coordinated movement of each branch chain to complete the pouring tasks with different variable parameters. Consequently, the designed pouring robot will significantly enhance the automation level of the casting industry.

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“…Ding et al 24 proposed a general method for the structural synthesis of two-layer two-loop mechanisms. Wang et al 25 carried out a kinematic analysis of the 2UPR-2RPU parallel mechanism, which is also a multi-loop mechanism. Chen and Sun 26 built a dynamic model of a multi-ring mechanism with multispherical joint clearances.…”

Section: Introductionmentioning

confidence: 99%

A host–parasite structural analysis of industrial robots

Wei

Cai

Gong

et al. 2020

International Journal of Advanced Robotic Systems

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Most driving torques in serial industrial robots are used to overcome the weight of the robot. Although actuators account for a large proportion of the total mass of a robot, they have yet to become a positive factor that enables the robot to achieve gravity balance. This study presents a host–parasite structure to reconstruct the distribution of actuators and achieve gravity balance in robots. First, based on the characteristics of tree–rattan mechanisms, a method for calculating the degrees of freedom and a symbolic representation method for the distribution of branched chains are formulated for host–parasite mechanisms. Second, a configuration analysis and optimization method for host–parasite structure-based robots and a robot prototype are presented. Finally, four host–parasite mechanisms/robots (A, B, C, and D) are compared. The results are as follows. If more parasitic branched chains are added to the yz plane, the loads along axes 2 and 3 become more balanced, which significantly increases the stiffnesses of the mechanism in the y- and z-directions ( Ky and Kz, respectively). If the additional branched chains are closer to the site of maximum deformation, the stiffness of the mechanism in the z-direction ( Kz) increases more significantly. Of the four mechanisms, mechanism D has the best overall performance. The joint torques of mechanism D along axes 2 and 3 are lower than those of mechanism A by 99.78% and 99.18%, respectively. In addition, Kx, Ky, and Kz of mechanism D are 100.56%, 336.19%, and 385.02% of those of mechanism A, respectively. Moreover, the first-order natural frequency of mechanism D is 135.94% of that of mechanism A. Host–parasitic structure is conducive to improving the performance of industrial robots.

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Design and kinematics analysis of the executing device of heavy-duty casting robot

Cited by 4 publications

References 13 publications

Research on dynamics of hybrid pouring robot and attitude stability control of ladle

Research on dynamics of hybrid pouring robot and attitude stability control of ladle

Design, simulation, control of a hybrid pouring robot: enhancing automation level in the foundry industry

A host–parasite structural analysis of industrial robots

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