Development of Dynamic Model of Robot with Parallel Structure Based on 3D CAD Model

Damić, Vjekoslav; Cohodar, Maida; Kobilica, Nedzma

doi:10.2507/30th.daaam.proceedings.020

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…New challenges posed by Industry 4.0 have resulted in a dynamic development of simulation environments (e.g., RobotStudio, Robo Guide, KUKA SimPro, Delmia, Simulate Process) allowing for an accurate simulation of conditions on real production lines thanks to virtual controllers [ 17 , 18 , 19 ]. Creating digital twin manufacturing cells (DTMC) is possible using offline robot programming techniques that are being currently developed [ 20 , 21 , 22 , 23 , 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

Selection and Optimization of the Parameters of the Robotized Packaging Process of One Type of Product

Borys

Kaczmarek

Laskowski

2020

Sensors

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The article presents the results of computer simulations related to the selection and optimization of the parameters of robotic packing process of one type of product. Taking the required performance of the robotic production line as a basis, we proposed its configuration using the RobotStudio environment for offline robot programming and virtual controller technology. Next, a methodology for the validation of the adopted assumptions was developed, based on a wide range of input data and a precise representation of the applicable conditions in the packaging process of one type of product. This methodology included test scenarios repeated an appropriate number of times in order to obtain the result data with the desired reliability and repeatability. The main element of the research was a computer simulation of the station based on the Picking PowerPac package. It was assumed that the products on the technological line are generated pseudo-randomly, thus reflecting the real working conditions. The result of the conducted works is the optimal operating speed of industrial robots and conveyors. The developed methodology allows for multifaceted analyses of the key parameters of the technological process (e.g., the number of active robots and their load, speed of conveyors, and station efficiency). We paid special attention to the occurrence of anomalies, i.e., emergency situations in the form of “halting” the operation of chosen robots and their impact on the obtained quality of the industrial process. As a result of the simulations, numerical values were obtained, maximum efficiency, with regard to maximum overflow of items of 5%, for LB algorithm was equal to 1188 completed containers per hour, with conveyors speeds of 270 mm/s and 165 mm/s. This efficiency was possible at robot speeds R1 = 6450 mm/s, R2 = 7500 mm/s, R3 = 6500 mm/s, R4 = 6375 mm/s, R5 = 5500 mm/s, R6 = 7200 mm/s. The ATC algorithm reached efficiency of 1332 containers per hour with less than 5% overflown items, with conveyor speeds of 310 mm/s and 185 mm/s. This efficiency was possible at robot speeds R1 = 7500 mm/s, R2 = 7500 mm/s, R3 = 7200 mm/s, R4 = 7000 mm/s, R5 = 6450 mm/s, R6 = 6300 mm/s. Tests carried out for emergency situations showed that the LB algorithm does not allow for automatic continuation of the process, while the ATC algorithm assured production efficiency of 94% to 98% of the maximum station efficiency.

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Section: Introductionmentioning

confidence: 99%

Selection and Optimization of the Parameters of the Robotized Packaging Process of One Type of Product

Borys

Kaczmarek

Laskowski

2020

Sensors

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Modeling and analysis of an RUU Delta Robot using SolidWorks and SimMechanics

Le,

2024

Int. J. Dynam. Control

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A Novel, Oriented to Graphs Model of Robot Arm Dynamics

et al. 2021

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Robotics is an interdisciplinary field and there exist several well-known approaches to represent the dynamics model of a robot arm. The robot arm is an open kinematic chain of links connected through rotational and translational joints. In the general case, it is very difficult to obtain explicit expressions for the forces and the torques in the equations where the driving torques of the actuators produce desired motion of the gripper. The robot arm control depends significantly on the accuracy of the dynamic model. In the existing literature, the complexity of the dynamic model is reduced by linearization techniques or techniques like machine learning for the identification of unmodelled dynamics. This paper proposes a novel approach for deriving the equations of motion and the actuator torques of a robot arm with an arbitrary number of joints. The proposed approach for obtaining the dynamic model in closed form employs graph theory and the orthogonality principle, a powerful concept that serves as a generalization for the law of conservation of energy. The application of this approach is demonstrated using a 3D-printed planar robot arm with three degrees of freedom. Computer experiments for this robot are executed to validate the dynamic characteristics of the mathematical model of motion obtained by the application of the proposed approach. The results from the experiments are visualized and discussed in detail.

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Development of Dynamic Model of Robot with Parallel Structure Based on 3D CAD Model

Cited by 3 publications

References 11 publications

Selection and Optimization of the Parameters of the Robotized Packaging Process of One Type of Product

Selection and Optimization of the Parameters of the Robotized Packaging Process of One Type of Product

Modeling and analysis of an RUU Delta Robot using SolidWorks and SimMechanics

A Novel, Oriented to Graphs Model of Robot Arm Dynamics

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