Investigation and strategies for precision of miniaturized robots with micro gears

Burisch, Arne; Raatz, Annika

doi:10.1108/01445151111172899

Cited by 9 publications

(4 citation statements)

References 12 publications

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“…DAC7731 of TI is adopted in the system as digital analog conversion chip of the torque motor driver module. It is a 16-bit digital analog converter which has advantages of configurable output voltge range, high conversion rate and low power consumption, so DAC7731 is particularly suitable for industrial measurement and control field [5] .…”

Section: Hardware Implementation Of the Systemmentioning

confidence: 99%

Design on Transmission Accuracy Testing System of Actuator

Liu

et al. 2014

AMR

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Actuator is the main executive mechanism for the attitude control of aircraft in the aerospace industry and aviation field. With the further development of technology, higher quality of product research and detection has been required. According to the test requirements, the actuator nonlinear parameter testing system is designed to realise the automatic detection for actuator transmission mechanism on the basis of the research in nonlinear measured parameter of tranmission accuracy. Firstly, the principle and detection scheme of the system was presented. Then the overall structure of the system was designed. After that, the hardware circuit of the system which used TMS320F2812 as main control chip was designed. It mainly consisted of the function of each module and the working process of the system. Finally, the software of the image acquisition system was presented. With the experimental verification, the system realises the automatic detection for tranmission accuracy and has advantages of low cost, high efficiency and strong resistance to interference. The functions and indexes achieved the design requirements..

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Section: Hardware Implementation Of the Systemmentioning

confidence: 99%

Design on Transmission Accuracy Testing System of Actuator

Liu

et al. 2014

AMR

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“…In order to ensure the consistency between the images and space pixel points, the scanning frequency of line-scan digital camera must be the same as the movement velocity of the paper. The system selects the incremental photoelectric encoder to detect the velocity of the paper, using the method of M/T measurement through counting pulse numbers on the photoelectric encoder in a certain period of time [5] .…”

Section: Hardware Implementation Of the Systemmentioning

confidence: 99%

Design of On-Line Detection System for Paper Defects Based on Line-Scan Camera

Liu

Wang

et al. 2014

AMM

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Paper defects mean that there are some defects in the paper such as hole, emboss, and fold during the paper production, which mainly results from the limitation of technological level. In the past time, artificial visual inspection and off-line checking were often used to detect the paper defects. However, its shortcoming was highlighted along with the improvement of industrial technology level and increasing demand for paper. In order to realize the online detection and markers for paper defects, the project designs the on-line detection system based on line-scan digital camera. Firstly, the principle and detection scheme of the system for the paper defects was presented. Then the overall structure of the system was designed. After that, the hardware circuit of the system was designed using TMS320F2812 as main control chip. It mainly consists of the function of each module and the working process of the system. Finally, the software of the image acquisition system was presented. With the experimental verification, the system has advantages of low cost, high efficiency and strong resistance to interference. The functions and indexes achieved the design requirements.

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“…These are: eccentricity (radial run-out), orientation (axial run-out, or wobble), toothto-tooth contact, and tooth profile (Judd and Knasinski, 1990). Burisch and Raatz (2011) presented a method for compensation of the transmission error of micro harmonic drive gears for miniaturized robots. Measurement data of the transmission error were mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function.…”

Section: Introductionmentioning

confidence: 99%

Characterization and experimental evaluation of gear transmission errors in an industrial robot

Slamani

Bonev

2013

Industrial Robot: An International Journal

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -This paper proposes a simple technique for assessing the effect of gear transmission errors in a six-axis industrial serial robot, as these errors can vitally affect the industrial robot's positioning accuracy. Design/methodology/approach -The experimental procedure is developed using a laser interferometer system to measure bidirectional linear position errors for an ABB IRB 1600 industrial robot. A simple technique based on fast Fourier transformation (FFT) analysis is devised and implemented for the characterization, evaluation, and quantification of gear transmission errors. Structural deformation and backlash error are also discussed. Findings -The authors found that the major sources of error affecting the performance of the robot come from joints two and three. They also found that eccentricity errors, structural deformations, and backlash are the most important sources of error affecting the accuracy and the repeatability of the industrial robot studied. Additional tests show that the robot's first joint has relatively poor bidirectional repeatability. Practical implications -The usefulness of a laser tracker (or any other large range portable 3D measurement system) is questionable for assessinglet alone analyzing in depth -the gear transmission errors of some of today's industrial robots. The authors demonstrate in this paper that a laser interferometer system can successfully measure gear transmission errors very accurately. The proposed methodology is simple, efficient, and easy to use for the characterization and quantification of the errors. Originality/value -This work is the first to detail the use of the laser interferometer system for the characterization of the gear transmission errors of an industrial robot. A methodology has been developed and implemented for very accurately quantifying the effects of gear transmission errors, structural deformations, and backlash. The proposed methodology greatly simplifies the measurement set-up and accelerates error quantification.

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Investigation and strategies for precision of miniaturized robots with micro gears

Cited by 9 publications

References 12 publications

Design on Transmission Accuracy Testing System of Actuator

Design on Transmission Accuracy Testing System of Actuator

Design of On-Line Detection System for Paper Defects Based on Line-Scan Camera

Characterization and experimental evaluation of gear transmission errors in an industrial robot

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