Dynamic modeling and parameter identification for a gantry-type automated fiber placement machine combined with hydraulic balance system and nonlinear friction

Wu, Jianbo; Cheng, Longdi; Guo, Yingjie; Li, Jiangxiong; Ke, Yinglin

doi:10.1016/j.cirpj.2022.02.011

Cited by 10 publications

(3 citation statements)

References 27 publications

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“…Secondly, repeated tension fluctuations increase the probability of wire blocking, which can lead to placement failure. A stable tension can reduce laying defects and the likelihood of laying failures, thus enhancing the quality of the laying [7,[14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Modeling of Precise Tension with Passive Dancers for Automated Fiber Placement

Li,

Che,

Zheng

et al. 2024

Actuators

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This paper modeled the tension fluctuation during automated fiber placement (AFP), which depicted the tension variations under different operating conditions. The stability and validity of the model were demonstrated using Bode plots and experiments, respectively. According to the model, the tension fluctuations of AFP at different stages were obtained. Additionally, the passive dancer parameters with the better system performance were determined using the evaluation methodology presented in this paper. Moreover, it was discovered that the damping coefficient affects the tension variation more significantly than the elasticity coefficient. Finally, the placement experiments showed that the determined passive dancer parameters improved the laying quality significantly.

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Section: Introductionmentioning

confidence: 99%

Modeling of Precise Tension with Passive Dancers for Automated Fiber Placement

Li,

Che,

Zheng

et al. 2024

Actuators

Self Cite

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“…Fig 18. Torque prediction based on identified dynamic parameters5.2 Comparative analysis of the HED model performanceIn order to validate the rationality of the HED model proposed in this paper, a comparative analysis is conducted with the model presented in the literature[31]. The results, depicted in Fig.18from top to bottom, include the positions, velocities, accelerations of joint 2, as well as the joint torques and the output torques of the hydraulic equilibrium system.…”

mentioning

confidence: 99%

“…The results, depicted in Fig.18from top to bottom, include the positions, velocities, accelerations of joint 2, as well as the joint torques and the output torques of the hydraulic equilibrium system. Through comparison, residual errors of the proposed model and the compared model from the literature[31] are determined to be 4187.255 Nm and 5870.693 Nm, respectively, as shown in Table5. The torque error of joint 2 based on the HED model is reduced by 28.68%.…”

mentioning

confidence: 99%

Dynamic Characterization and Incremental Dynamics Calibration of the Heavy-Duty Industrial Robot: A Focus on Hydraulic Equilibrium Dynamics

Cheng,

Xu,

Liang

et al. 2024

Preprint

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In recent decades, industrial robots have emerged as pivotal contributors to the global manufacturing landscape, revolutionizing various sectors through increased automation and efficiency. Simultaneously, the application of heavy-duty robots in heavy industries is gradually increasing. In this study, a self-developed heavy-duty robot is utilized for automated fiber placement (AFP), with the layup equipment integrated at the robot's end effector, weighing over one ton. To ensure the precision and efficiency of AFP, particular attention is given to the dynamic performance of the robot. The heavy-duty robot is equipped with a hydraulic equilibrium system to alleviate the gravitational load on the joint motors of both the robot body and the end effector. The hydraulic equilibrium system consists of a bladder accumulator and a hydraulic cylinder, introducing complexity to the robot dynamics. Therefore, establishing a dynamic model of the robot system and obtaining accurate dynamic parameters serve as the foundation for precise control of the robot, enabling the full utilization of its dynamic capabilities. In this paper, dynamics modeling of the hydraulic equilibrium system is performed based on the Maxwell model, and its dynamic parameters are identified using the CARAM model. Subsequently, the multi-body dynamic model of the robot is established, and an incremental identification algorithm for dynamic parameters is devised based on the characteristics of the robot structure. Additionally, to accurately identify dynamic parameters, an analysis of the robot drive mechanism is conducted to obtain the equivalent reduction ratio of the joints and the lever arm of the hydraulic equilibrium system. Furthermore, an equivalent friction model for the robot joints and screws is established.

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Towards advanced manufacturing systems for large parts: a review

Xue

2023

Int J Adv Manuf Technol

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Dynamic modeling and parameter identification for a gantry-type automated fiber placement machine combined with hydraulic balance system and nonlinear friction

Cited by 10 publications

References 27 publications

Modeling of Precise Tension with Passive Dancers for Automated Fiber Placement

Modeling of Precise Tension with Passive Dancers for Automated Fiber Placement

Dynamic Characterization and Incremental Dynamics Calibration of the Heavy-Duty Industrial Robot: A Focus on Hydraulic Equilibrium Dynamics

Towards advanced manufacturing systems for large parts: a review

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